Patent ID: 7826952

Claim:
A braking system for a vehicle having a plurality of wheels comprising: a brake subsystem associated with each of the wheels of the vehicle; a brake pedal for receiving a force from a driver; a plurality of sensors in communication with said brake pedal for sensing a driver input to said brake pedal; a plurality of remote controllers electrically connected to one another with each remote controller being associated with one of said brake subsystems for calculating braking functions of the associated brake subsystem and for calculating braking functions of the other brake subsystems; a plurality of central controllers electrically connected to said sensors for receiving said driver input and electrically connected to one another for processing said driver input and electrically connected to said remote controllers for sending said processed driver input to said remote controllers wherein each of said remote controllers has no greater processing capacity than said central controllers; said plurality of sensors including a pair of pedal force sensors for sensing the force being applied to said brake pedal and a pair of pedal position sensors for sensing a displacement of said brake pedal in response to the force; and said plurality of central controllers including a first central controller electrically connected to one of said pedal force sensors and a second central controller electrically connected to the other of said pedal force sensors and one of said pedal position sensors and a third central controller electrically connected to the other of said pedal position sensors.