Abstract: This driving assistance device includes a braking control unit and a target speed determination unit. The braking control unit executes driving assistance control for adjusting the braking force to be applied to a vehicle by actuating a brake actuator such that the vehicle body speed does not exceed a target speed. In cases where the accelerator pedal is being operated in a state where the braking control unit is executing the driving assistance control, the target speed determination unit determines the target speed depending on the larger value of either: the vehicle body speed that is correlated with at least one of the wheel speeds of the plurality of wheels provided to the vehicle; or the lower speed limit value that has been set.

Abstract: Provided is a master cylinder unit including a communication path that causes a master cylinder and a stroke simulator to communicate with each other. The stroke simulator includes a bottomed tube-shaped simulator piston and a simulator cylinder in which a simulator piston slides. The simulator piston is such that a bottom portion of the simulator cylinder and an opening portion of the simulator piston face each other. The communication path is open over an outer circumferential portion and an inner circumferential portion of the opening portion of the simulator piston, is connected to the bottom portion of the simulator cylinder, and is provided such that the communication path extends upward in a vertical direction from the bottom portion of the simulator cylinder as approaching to a pressure chamber.

Abstract: A brake system for a vehicle may include a brake input device configured to apply a brake input of a driver; a brake actuator including a first pump device and a second pump device for supplying a brake hydraulic pressure; a brake adjusting device, which includes a first chamber and a second chamber, and is operated so that the first chamber and the second chamber are connected to or blocked from each other; and wheel cylinders configured to generate brake power for each wheel by the brake hydraulic pressure generated in the brake actuator, wherein the brake adjusting device blocks the first chamber and the second chamber so that a brake hydraulic pressure supplied from the first pump device and a brake hydraulic pressure supplied from the second pump device are blocked from each other.

Abstract: A vehicle brake system including a hydraulic brake device that includes: a brake actuator including a pump and a two-system electric motor that includes first and second coils; a battery; a first drive circuit for supplying electric power from the battery to the first coil; a capacitor; and a second drive circuit for supplying electric power from the capacitor to the second coil, wherein, in a normal mode in which the pump is driven by power not greater than set power, the motor drives the pump by the electric power supplied from the battery to the first coil, and wherein, in a high power mode in which the pump is driven by power that exceeds the set power, the motor drives the pump by both of the electric power supplied from the battery to the first coil and the electric power supplied from the capacitor to the second coil.

Abstract: The apparatus comprises a sensor for generating a vehicle load signal, weighting devices designed to supply a weighted pneumatic pressure as a function of the load signal, and first and second braking control apparatus, both coupled to the weighting devices and comprising respective relay valves which supply at their outlets respective braking pressures, modulated as a function of said weighted pneumatic pressure, to respective braking actuators associated with the wheels of a respective axle or of a respective bogie of the vehicle. The weighting devices comprise an electro-pneumatic drive assembly which is interposed between pneumatic pressure supply means and the drive inlet of the relay valves and an electronic weighting control unit which controls the drive assembly as a function of the load signal, so as to modulate in a predetermined way the pressure at the drive inlet of the relay valves.

Abstract: The pneumatic braking system comprises a pneumatic circuit for supplying a pneumatic braking pressure to at least one brake cylinder, and includes a pneumatic solenoid charging valve and a pneumatic solenoid discharge valve adapted to cause an increase and a reduction, respectively, of the pneumatic pressure acting upon the at least one brake cylinder, the solenoid valves being controlled by an electronic braking control unit; a solenoid brake release valve adapted to cause, when energized, a complete discharge of the pneumatic pressure applied to the at least one brake cylinder, independently of the conditions of the solenoid charging and discharge valves; and an electric emergency line on which in normal operation there is a voltage which drops when emergency braking is activated.

Abstract: A brake system for motor vehicles may have a main brake cylinder with a floating piston arranged therein, which hermetically seals first and second pressure chambers from one another. The first pressure chamber may be hydraulically connected to a first brake circuit, and the second pressure chamber may be hydraulically connected to a second brake circuit. The brake system may further include a pressure means reservoir under atmospheric pressure, wheel brakes, an electrically controllable pressure supply device for pressure build-up and pressure reduction in the wheel brakes, a valve block with a currentless open inlet valve/switching valve for each wheel brake and with at least one outlet valve, wherein each wheel brake can be hydraulically connected via the switching valve associated with it to a pressure chamber of the main brake cylinder.

Abstract: An actuating device for a vehicle brake system may include a first piston-cylinder unit, the at least one working space of which is to be connected to at least one wheel brake of the vehicle via at least one hydraulic line, an electromechanical drive device and an actuating device, in particular a brake pedal. Methods for operating a vehicle brake system including such an actuating device and for diagnosing various portions of a vehicle brake system (e.g., but not limited to, a feed valve or a travel simulator) are also presented.

Abstract: A brake unit that allows the vehicle to evacuate safely in the event of brake failure while maintaining a braking performance. The brake unit is mounted on a vehicle together with a motor drive unit 2 to control brake force in accordance with a stroke of a brake pedal and a pedal force. Each brake system comprises: a stroke sensor; a pedal force sensor; a brake mechanism applying brake force to a driveshaft; a controller controlling the brake mechanism based on the stroke and the pedal force; and a powersource supplying electricity to the brake mechanism and the controller. The first controller 13 and the second controller support each other to control brake force.

Abstract: This electric braking device transmits power generated by an electric motor to a pressing member and causes pressing force to be generated by the pressing member with respect to a friction member. The electric braking device includes a lock mechanism. A locked state (in which movement of a locked section in a direction in which pressing force decreases is impossible) is achieved in the lock mechanism by: performing “supplied power amount reduction control” in which the amount of power supplied to the electric motor is reduced while a locking member is maintained in a lockable position; causing the locked section to move in the direction in which pressing force decreases; and causing the locking member and the locked section to engage. When performing supplied power amount reduction control, the amount of power supplied is first reduced by a large reduction gradient and then reduced by a small reduction gradient.

Abstract: A hydraulic brake valve system may comprise a valve housing comprising a brake port, a pressure port, a return port, and a valve actuation end; a valve shaft coupled to the valve actuation end, wherein the valve shaft may be comprised at least partially within the valve housing; and an electric actuator coupled to the valve shaft, wherein the electric actuator may be configured to move the valve shaft between a shaft on position and a shaft off position. The hydraulic brake valve system may be configured to pass hydraulic pressure through at least one of the brake port, the pressure port, or the return port in response to a position of the valve shaft.

Abstract: An electric power source system includes an electric power generator, a voltage conversion device, a battery, an electrical load, and a control device. The voltage conversion device converts a direct current voltage. The battery is electrically connected to the electric power generator through the voltage conversion device. The electrical load is electrically connected to the electric power generator in a parallel relationship with the battery without passing through the voltage conversion device. The control device is configured to charge the battery through the voltage conversion device based on regenerative electric power in a regenerative state in which the regenerative electric power is generated by the electric power generator. the control device is configured to increase an electric power consumption of the electrical load further when the control device detects an event that impedes the charging in the regenerative state than when the control device does not detect the event.

Abstract: The energization control apparatus can select a supercharging mode in which the energization control apparatus controls energization to an electric compressor so as to rotate the electric compressor to supercharge an intake air and an electric power consumption mode in which the energization control apparatus controls the energization to the electric compressor so as to deteriorate efficiency of a motor of the electric compressor than the supercharging mode to increase electric power consumption of the electric compressor. The energization control apparatus supplies regenerated electric power to the electric compressor and control the energization to the electric compressor with the electric power consumption mode when regenerative braking is performed by a generator and regenerated electric power for obtaining demand regenerative braking force is more than an input limiting level of a battery.

Abstract: A computer is programmed to predict, based at least in part on a stored road topology for a predetermined vehicle route, a vehicle body orientation based on lateral, longitudinal, and vertical accelerations predicted for the route. The computer is programmed to, based on the predicted vehicle body orientation, adjust at least one of an orientation of the vehicle body and an orientation of an object in the vehicle as the vehicle traverses the route.

Abstract: A computer is programmed to, upon determining that a user has departed a vehicle, identify available parking spaces based at least in part on one of stored parking restrictions and vehicle sensor data. The computer is programmed to select one of the parking spaces based at least in part on a distance to a respective parking space and an environmental condition. The computer navigates the vehicle to park at the selected parking space.

Abstract: A parking-assist system suitable for use on an automated vehicle includes a radar sensor and a controller. The radar-sensor detects a first-vehicle and a second-vehicle adjacent to a travel-path of a host-vehicle. A distance between the first-vehicle and the second-vehicle defines a parking-space. The controller is in communication with the radar-sensor. The controller determines the distance before the host-vehicle enters a zone of the travel-path adjacent to the parking-space. The zone has a length determined by the distance, and the controller determines when the parking-space is large enough to accommodate the host-vehicle based on the distance.

Abstract: A control device of an automatic driving vehicle identifies an object, based on an image. The control device decides a first prohibited area, based on the object. A memory stores a first planned location as a planned location where the automatic driving vehicle is to park or stop. The control device determines whether or not the automatic driving vehicle is able to park or stop at the first planned location, based on the first prohibited area and first planned location. In a case where the automatic driving vehicle is not able to be parked or stopped at the first planned location, the control device changes the planned location from the first planned location to a second planned location, sets a route from a vehicle location to the second planned location, and controls movement of the automatic driving vehicle based on the route.

Abstract: Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from one or more sensors of the vehicle; processing, by a processor, the sensor data to determine a cyclist in proximity to the vehicle; in response to the determined cyclist, selecting, by the processor, a behavioral mode from a plurality of behavioral modes; adjusting, by the processor, at least one control parameter based on the selected behavioral mode; and controlling the autonomous vehicle and/or a notification light based on the at least one control parameter.

Abstract: A collision avoidance system of a vehicle includes a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle. A processor is operable to process sensor data captured by the sensor to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle. The processor determines a time to intersection of projected paths of travel of the vehicle and pedestrian based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle. The system adjusts the speed of the vehicle so that the pedestrian will not be in the projected path of travel of the vehicle when the vehicle arrives where the projected path of travel of the vehicle intersects the projected path of travel of the pedestrian.

Abstract: A lane departure prevention apparatus (17) has: a departure preventing device (172) for control a braking apparatus (122) to perform a departure prevention operation by applying yaw moment (Mtgt) to a vehicle (1), wherein the yaw moment is generated by a difference of the braking forces between right wheels (121FR, 121RR) and left wheels (121FL, 121RL)1; and a controlling device (173) for controlling the departure prevention device so that the braking force applied to driving wheels (121RL, 121RR) becomes smaller and the braking force applied to non-driving wheels (121FL, 121FR) becomes larger when the departure prevention operation is performed and a differential apparatus (132) limits a differential rotation, compared to a case where the departure prevention operation is performed and the differential apparatus does not limit the differential rotation.

Abstract: A navigation system includes: a control circuit configured to calculate a current location for representing a control vehicle traveling in a traffic lane, calculate a travel-lane identification for identifying the traffic lane, generate a vehicle movement control based on the travel-lane identification for controlling a physical operation or function of the control vehicle; and a vehicle storage circuit, coupled to the control circuit, configured to store the vehicle movement control.

Abstract: A method of automatically controlling the speed of a vehicle as the vehicle traverses a water obstacle. The method includes the step of detecting that the vehicle has entered a water obstacle. The method further includes the step of determining a depth of the water proximate the vehicle based on readings or information received from, for example, one or more sensors or other components of the vehicle. And when the depth of the water exceeds a predetermined depth, the method still further includes the step of automatically reducing the speed of the vehicle such that a bow wave created in the water by the vehicle propagates ahead of the vehicle and in an intended direction of travel of the vehicle. A system for implementing the methodology is also provided.

Abstract: A trailer hitching assist system for a vehicle includes a camera disposed at a rear portion of a vehicle and having a field of view rearward of the vehicle. A control includes an image processor operable to process image data captured by the camera. The image processor, via image processing of image data captured by the camera, detects a trailer and trailer hitch rearward of the vehicle and determines a first path of travel for the vehicle to follow so as to maneuver the vehicle so as to have its tow ball aligned with the trailer hitch. The control maneuvers the vehicle along the determined first path of travel. Responsive to detection of an object entering the first path of travel, the control determines a second path of travel and maneuvers the vehicle along the second path of travel to avoid the detected object entering the determined path of travel.

Abstract: A method includes controlling an electrified vehicle by automatically commanding an output torque from an electric machine if the electrified vehicle is in park and an engine start or stop request has been received. A road grade may be used to determine whether or not to command the output torque.

Abstract: A method for decelerating a vehicle includes actuating an electric brake motor of an electromechanical braking mechanism in an event of a failure of a hydraulic vehicle brake to produce a braking force in an event of a failure of the hydraulic vehicle brake. The method further includes producing a decelerating torque in the drive train of the vehicle in the event of the failure of the hydraulic vehicle brake. The vehicle includes a brake system. The brake system has the hydraulic vehicle brake and the electromechanical braking mechanism with the electric brake motor.

Abstract: An apparatus and method of controlling a braking force of a vehicle can improve fuel efficiency by increasing the rate of regenerative braking in the vehicle. The method includes: determining a required deceleration based on a running state of other vehicle ahead; determining a maximum value of a maximum creep torque of a motor and a maximum creep torque of a battery as an amount of available creep torque; determining a smaller value of a required deceleration and the amount of available creep torque as the creep torque; determining a motor torque based on the creep torque; performing regenerative braking by controlling the motor so as to follow the determined motor torque; calculating a deceleration torque based on the creep torque and calculating an amount of hydraulic braking based on the deceleration torque; and performing hydraulic braking according to the calculated hydraulic braking amount.

Abstract: A host vehicle includes a combustion engine configured to provide a propulsion torque to satisfy a propulsion demand. The vehicle also includes at least one sensor configured to detect a position of a reference vehicle. A vehicle controller is programmed to determine a path between a current host vehicle location and an upcoming intersection. The controller is also programmed to forecast a path clearance time at which the host vehicle is able to traverse the intersection in response to sensor data indicating the reference vehicle moving within the path ahead of the host vehicle. The controller is further programmed to deactivate the engine prior to a host vehicle stop based on the path clearance time being greater than a time threshold.

Abstract: A travel control apparatus comprises a first detector configured to detect an obstacle around a subject vehicle traveling in a first lane and a second detector configured to detect a second lane adjacent to the first lane. The travel control apparatus sets a first range at a target position for lane change in the second lane. The travel control apparatus detects a range in the second lane as a second range located at a side of the subject vehicle, and the obstacle is absent in the range in the second lane. The apparatus permits the subject vehicle to change lanes when the second range includes the first range. A method estimates whether another vehicle traveling in the second lane comes away from the subject vehicle and corrects to reduce the first range or increase the second range when the other vehicle is estimated to come away from the subject vehicle.

Abstract: A travel control apparatus comprises a first detector configured to detect an obstacle around a subject vehicle traveling in a first lane and a second detector configured to detect a second lane adjacent to the first lane. The apparatus sets a first range at a target position for lane change in the second lane. The first range has a size equal to or larger than a size which the subject vehicle occupies on a road surface. The apparatus detects a range in the second lane as a second range located at a side of the subject vehicle, and the obstacle is absent in the range in the second lane. The apparatus permits the subject vehicle to change lanes when the second range includes the first range. A travel control method performs correction to reduce the first range or increase the second range based on a necessity level.

Abstract: A travel control method comprises a step of determining, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.

Abstract: A vehicle powertrain includes a propulsion unit having a propulsion unit auxiliary brake, a transmission, driven wheels and a control unit arranged to control at least the transmission, where the propulsion unit is drivingly connected to the driven wheels via a clutch and different engagable gear ratios in the transmission.

Abstract: Methods and systems are provided for determining a road surface condition. In one embodiment, a method includes: receiving vehicle data; constructing, by the processor, a driver behavioral model based on the vehicle data; determining, by the processor, a surface condition based on the driver behavioral model; and generating a signal based on the surface condition.

Abstract: A vehicle control device has a plurality of driving modes with different allowable operation ranges for operating a vehicle. The plurality of driving modes include at least an automatic driving mode. A vehicle control device 10 includes a processing unit that determines that the vehicle is to fee operated in any one of the plurality of driving modes based on the driver qualification information possessed by an occupant who operates the vehicle.

Abstract: The present invention provides retaining positions, time and a range as a history on missing of a GPS system. This work vehicle, which travels autonomously along a set travel path that has been stored in a storage device of a control device, is provided with a position calculation means that measures the position of the autonomously traveling work vehicle using a satellite positioning system, with an automatic travel means that makes the autonomously traveling work vehicle travel automatically, and with a control device, wherein the control means, when the current position cannot be measured by the satellite positioning system, stores the position and time at which the position measurement obstacle occurs and the range over which the position measurement obstacle occurs in a storage device, and displays, on a display of a display means or a remotely operated device, the fact that position measurement is impossible.

Abstract: Methods and systems for monitoring a load in a trailer coupled to a vehicle. One method includes determining, with an electronic processor, an initial weight on a rear axle of the vehicle when the load is engaged with the trailer coupled to the vehicle. The method also includes monitoring, with the electronic processor, a current weight on the rear axle of the vehicle based on data collected by a sensor. The method also includes comparing, with the electronic processor, the initial weight and the current weight. The method also includes automatically generating, with the electronic processor, a notification when the current weight is different than the initial weight by a predetermined threshold.

Abstract: System and techniques for context derived driver assistance are described herein. An identity of a vehicle operator of a vehicle may be determined. An operating context of the vehicle may be determined. A notification concerning the operating context may be adaptively adjusted based on the identity of the vehicle operator.

Abstract: A vehicle information display control device includes: an automatic driving information obtaining unit obtaining automatic driving information including information indicating that each actuator of a vehicle is in a manual control mode or an automatic control mode; and a display controller causing a display to display an image based on the automatic driving information. The display controller causes the display to display: an image of a manual driving device corresponding to the actuator; a manual-operation recalling image that is superimposed on the image of the manual driving device corresponding to an actuator in the manual control mode and that recalls an operation performed by a person; and an automatic-operation recalling image that is superimposed on the image of the manual driving device corresponding to an actuator in the automatic control mode and that recalls an operation performed by a machine.

Abstract: A train control system that can be integrated into a locomotive having a distributed power mode. The train control system includes a router interposed in a communication link between the locomotive computer and the distributed power module that is responsible for telling the locomotive computer whether distributed power mode is active or inactive. The train control system controls the router to obtain any locomotive operational data sent from the locomotive computer to the distributed power module for use by the train control system. The router may additionally intercept and block communications from the distributed power module to the locomotive computer and replace the communications with messages that cause the locomotive computer to provide locomotive operational data that is would not otherwise output in a particular distributed power state.

Abstract: A floor structure is provided with an underframe, which is part of a carriage body, is elongated along a longitudinal axis coinciding with the advancement axis of such carriage, and has a plurality of longitudinal attachment rails arranged on an area of the lower surface of the underframe; the attachment rails project downwards so as to define therebetween a plurality of compartments, which are engaged by panels having insulating material to form a fire protection system; such a system has, furthermore, a plurality of section bars, which are attached to the attachment rails and are shaped so as to retain the panels in fixed positions in the compartments and, at the same time, cover the attachment rails.

Abstract: An articulated connector for a rail vehicle having a plurality of rail car bodies including a first and a second rail car body supported on a bolster of a Jacobs bogie. The articulated connector includes a spherical joint mechanism connecting the first rail car body and the second car body to one another, the spherical joint mechanism having at least two spherical joint bearings, and the spherical joint mechanism being disposed on the bolster of the Jacobs bogie.

Abstract: A route examination system determines a characteristic of a vehicle system traveling over a segment of a route under inspection, a characteristic of the route, and/or a characteristic of movement of the vehicle system over the segment of the route. The system also detects acoustic sounds generated by movement of the vehicle system over the segment of the route. The system selects a baseline signature representative of acoustic sounds generated by movement of the vehicle system or another vehicle system over a healthy segment of the route, and determines that the segment of the route under inspection is damaged based on a comparison between the baseline signature and the acoustic sounds generated by the movement of the vehicle system over the segment of the route under inspection.

Abstract: A method is for maintenance of a ground-level power supply for a transport vehicle. The device includes: a power supply rail, a detector of spatial coordinates of a vehicle; and a power supply shoe. The device and the shoe equip the same vehicle. The supply shoe includes a vibration sensor. The method includes measuring vibrations of the shoe and simultaneously detecting spatial coordinates of the vehicle during the movement of the vehicle along the rail, followed by comparing measured vibrations of the shoe with a threshold value, and determining spatial coordinates corresponding to vibrations above the threshold value.

Abstract: A system for selectively disabling highway crossing equipment includes a timer for controlling a maximum out of service time for the highway crossing equipment, a switch for controlling disablement of the highway crossing equipment, and control circuitry responsive to the timer and the switch. The control circuitry disables the highway crossing equipment in response to an input received from the switch before the maximum out of service time has been reached and re-enables the highway crossing equipment in response to a subsequent input from the switch received before the maximum out of service time has been reached. The control circuitry places the highway crossing equipment in a failsafe condition when the maximum out of service time has been reached without receiving the subsequent input from the switch.

Abstract: Dollies support steered skis of a snowmobile on wheels to enable the snowmobile to be moved along an underlying surface with carbides on the bottom surfaces of the skis free of contact with the underlying surface.

Abstract: An electric push cart includes a motor; a drive wheel that is rotationally driven by the motor; a cart frame that rotatably supports the drive wheel and includes left and right handles for a user to hold; a controller that drives the motor and issues a warning. The controller issues a warning when a motor-stop condition is fulfilled as a result of an increase in load on the motor when driving the motor and stops the drive of the motor after a given time has elapsed.

Abstract: The present invention discloses a foldable stroller, comprising: a front wheel support frame, a rear wheel support frame, a seat support and push rods, the lower end of the front wheel support frame is provided with front wheel assemblies, and rear wheel assemblies are arranged at the lower end of the rear wheel support frame, the push rods each are connected to the front wheel support frame and the rear wheel support frame with pivot assemblies, the foldable stroller comprises not only a first folding structure that is connected with the pivot assemblies and capable of folding the push rods, but also a second folding structure capable of folding the front wheel support frame and the rear wheel support frame. The present invention has the advantages of simple structure, low cost, convenient assembly, smooth and easy folding, small folding size and convenient collection.

Abstract: In steering members of a steering device, a shift-up switch and a shift-down switch for upshifting or downshifting with respect to a transmission are provided to respective inner sides in a vehicle width direction of truncated square pyramidal parts at upper end portions of grip parts. On-off switches for switching between a plurality of vehicle behavior controls are provided to respective front sides of the truncated square pyramidal parts. A characteristic amount addition switch and a characteristic amount subtraction switch respectively for increase and decrease a characteristic amount of a vehicle behavior control are disposed respectively at bottoms of concave portions formed on rear sides or outer sides in the vehicle width direction on the truncated square pyramidal parts.

Abstract: A steering system for a motor vehicle includes a steering column and a device for adjusting the steering column. The device includes a bearing block, a first guide mechanism, and a second guide mechanism. A housing of the steering column is adjustably mounted in the bearing block. The first guide mechanism is configured to adjust a height of the steering column in the bearing block. The second guide mechanism is configured to adjust an inclination of the housing, and includes at least one first guide plate and at least one second guide plate that are each movably connected to the housing of the steering column and to the bearing block so as to be axially movable with an adjustment of the inclination of the housing.

Abstract: A collapsible steering column assembly comprises a telescopic steering shaft that is supported within a steering column shroud, comprising a first shaft having a hollow end, the inner surface of the hollow end being provided with a plurality of inwardly facing elongate splines that each extend axially along the inner surface, and a second shaft that has an end that is located within the hollow end of the first shaft, the second shaft being provided with a set of outwardly facing elongate splines that each extend axially along the outer surface of the end of the second shaft, the splines of the second shaft inter-engaging the splines of the first shaft to prevent relative rotational movement of the two shafts whilst permitting the two shafts to move axially relative to one another at least in the event of a crash.

Abstract: A control system for monitoring operation of an electric motor includes a plurality of position sensors configured to measure a position of the electric motor, an indirect position estimation module configured to indirectly estimate the position of the motor, and an error monitoring module. The error monitoring module is configured to perform at least one of: comparing a measured position from the plurality of position sensors to an estimated position from the sensor position estimation module, and detecting a failure of at least one of the one or more position sensors based on the comparison; and calculating a difference between the measured position from one of the plurality of position sensors and the measured position from another of the plurality of position sensors, and causing the indirect position estimation module to initiate estimation of the position of the motor based on the difference.