A new transportation system, in which personal mobility vehicles (PMVs) and public transports are combined, attracts attention from the viewpoint of environmental loads. Several PMVs including Segway have been developed, however, the use of those vehicles on Japanese public roads is prohibited. As the result, a foldable PMV is developed to be used on Japanese public roads. Although this PMV is designed to run on public roads, it is difficult to avoid danger with the braking system. Therefore, in addition to the deceleration by the open loop control developed by Sakata, we develop a new heel brake that features the backward leaning posture and the movement of the center of gravity. With this brake, even a standing ride PMV can avoid danger by sudden braking. In this paper, we describe the outline and design of the developed brake system and report experimental results of performance evaluation using the heel brake.