Abstract: A method for operating a vehicle, the vehicle including at least one friction brake unit, including a brake body and at least one brake element, the brake body being rotatably fixedly connected to a wheel of the vehicle and the brake element being situated on the chassis side and being displaceable in the direction of the brake body. The brake element is pressed against the brake body for generating a friction braking action, and an actual vehicle parameter resulting from the friction brake action being monitored for vibrations with the aid of at least one sensor unit. When detecting a vibration, the frequency of the vibrations is compared with the rotational speed of the wheel, and at least one safety measure is carried out in a third step if the comparison indicates that the frequency is equal to or greater than the rotational speed of the wheel.

Abstract: An electronic braking system with independent antilock braking and stability control. The system can utilize a variety of electro-mechanical actuators to apply clamping force to a mechanical brake caliper. The system can include a caliper electronic control unit (CECU) and a wheel speed sensor at each wheel of the vehicle to enable independent slip control, or antilock braking, at each wheel. A separate executive management unit (EMU) can receive data from each electronic caliper, vehicle accelerometers, and other sensors to provide electronic stability control (ESC) independent of antilock braking (ABS) functions. The removal of a conventional master cylinder, brake pedal, ABS pump, brake lines, and other components can reduce weight and complexity. The elimination of hydraulic lines running to a central ABS module and master cylinder can enable modular drive units to be swapped out more quickly and efficiently.

Abstract: Provided are a device for controlling an electric vehicle and a method of controlling an electric vehicle that are capable of appropriately suppressing a vibration. In the device for controlling an electric vehicle according to the present invention, when a motor configured to generate a torque for braking or driving a drive wheel is controlled based on a torque command value based on an accelerator operation or a brake operation by a driver and a vibration suppression control torque command value for suppressing a vibration component caused by a resonance of the vehicle, the vibration suppression control torque command value is restricted based on a state of the drive wheel during a travel.

Abstract: Disclosed is a brake HILS system for a railway vehicle, comprising: a user terminal that receives values relating to braking conditions of a railway vehicle through a user interface and monitors simulation results; a pneumatic brake that includes an electronic control unit, a brake operation unit, a wheelset, a brake caliper, and a wheel slide protection valve and produces pneumatic pressure and transmits a braking force to the wheelset in accordance with the braking conditions from the user terminal; a load cell that is disposed on a wheel or a disc and measures a braking force from the pneumatic pressure; and a modeling unit that simulates the running and braking dynamic characteristics of a railway vehicle in real-time using mathematical models.

Abstract: A driving force distribution control apparatus includes: a driving force transmission device including a clutch which can change distribution of a driving force to front wheels and rear wheels of a four-wheel drive vehicle; and a controller which controls an engagement force of the clutch in accordance with a traveling state. The controller includes a different-diameter tire detector which detects an attachment of a different-diameter tire to one of the front wheels and the rear wheels when a rotation speed ratio between the front wheels and the rear wheels continues to be equal to or larger than a reference rotation speed ratio for a predetermined time. The different-diameter tire detector performs detection of the attachment of the different-diameter tire when it is determined that the wheels are unlikely to slip based on an outside condition.

Abstract: The vehicle braking control device adapted to a vehicle brake device having an electromagnetic valve which controls the brake fluid flow between the master cylinder and the wheel cylinders in response to the input electric energy. The vehicle braking control device includes a valve opening electric energy obtaining portion which obtains an input electric energy upon opening of the electromagnetic valve as a valve opening electric energy and an operation characteristic setting portion which sets an operation characteristic based on the valve opening electric energy obtained corresponding to the predetermined pressure differential. The opening valve electric energy obtaining portion changes the input electric energy at a valve closing side or a valve opening side with a change amount per unit of time larger than before valve opening in response to an obtaining of the valve opening electric energy.

Abstract: A control system in a vehicle configured to rotate a drive wheel by a driving power generated in a driving power source mounted in the vehicle; comprises a slip value measuring unit configured to measure a slip value indicating a degree to which the drive wheel spins; a change rate calculator configured to calculate a change rate of the slip value measured by the slip value measuring unit; and a road surface condition determiner configured to determine a road surface condition according to the change rate of the slip value calculated by the change rate calculator.

Abstract: A system, method and device are provided which relate to an automatic parking brake for motor vehicles having multiple brake actuators and an operating element for operating the parking brake. In embodiment, the brake actuators are connected to a controller, which is able to perform a wheel-specific slip control when a critical driving situation occurs. For example, a simultaneous locking and the loss of the cornering force can be prevented by a controller. The controller is designed in such a way so that when controlling the slip on a first wheel, the slip (?2) of a second wheel is taken into account.

Abstract: An object of the invention is to provide a traction control apparatus capable of suitably controlling an error, if it occurs, between an estimation of a vehicle speed and an actual vehicle speed. A traction control apparatus according to the invention includes a vehicle speed estimator and a driving-force controller. The traction control apparatus includes a vehicle state determiner that determines whether the vehicle speed of the construction vehicle estimated by the vehicle speed estimator and the driving-force control by the driving-force controller are balanced, and a driving-force control changer that changes a driving-force control by the driving-force controller when the vehicle state determiner determines the vehicle speed and the driving-force control to be unbalanced.

Abstract: A traction control device for a motorcycle eliminates a need for a waiting time for detecting an amount of change in a vehicle state and a subsequent prediction time, and can execute quick traction control. The traction control device includes an engine driving force control unit, for calculating a real slip ratio of the motorcycle, setting a target slip ratio according to a driving state of the motorcycle, and controlling a driving force of an engine so that the real slip ratio becomes the target slip ratio. The traction control device also includes a throttle grip opening degree sensor for detecting an opening degree of a throttle grip; and a bank angle sensor for detecting a bank angle of the motorcycle. The engine driving force control unit calculates the target slip ratio on a basis of the throttle opening degree and the bank angle of the motorcycle.

Abstract: Control to inhibit a slip of a wheel by controlling braking/driving force generated at the wheel is performed when a slip ratio of the wheel of a vehicle according to a running state of the vehicle becomes larger than a slip ratio threshold value set in advance or when a ratio between wheel acceleration of the wheel and a vehicle speed of the vehicle according to the running state of the vehicle becomes larger than a ratio threshold value. Therefore, it is possible to improve control accuracy when controlling a slip state of the wheel by decreasing an effect of operation by a driver and a road surface and the like, for example.

Abstract: A slip suppression control system for a vehicle includes a monitored value detecting device for detecting a monitored value corresponding to a difference between a rotational speed of a front wheel and a rear wheel, and a traction control unit configured to initiate initial traction control for reducing a driving power of a drive wheel when a threshold determiner unit determines that the monitored value exceeds a first slip threshold and to execute continued traction control such that the driving power is reduced when the threshold determiner unit determines that the monitored value exceeds a second slip threshold smaller than the first slip threshold, while the driving power is increased when the threshold determiner unit determines that the monitored value is smaller than a gripping threshold which is the second slip threshold or smaller.

Abstract: A travel controlling apparatus of a vehicle includes a slip ratio detecting unit that obtains a slip ratio of front wheels and rear wheels depending on a travel state of the vehicle, a friction coefficient detecting unit that obtains a friction coefficient of the front wheels and the rear wheels depending on the travel state of the vehicle, a slip ratio stable region setting unit that sets a slip ratio stable region in which the friction coefficient becomes a predetermined value or more depending on the travel state of the vehicle, a braking/driving force controlling unit that controls a braking/driving force in the slip ratio stable region, and a slip ratio stable region changing unit that changes an upper limit value and a lower limit value in the slip ratio stable region depending on a variation of the friction coefficient when the slip ratio increases and when the slip ratio decreases.

Abstract: An object of the invention is to provide a traction control apparatus capable of suitably controlling an error, if it occurs, between an estimation of a vehicle speed and an actual vehicle speed. A traction control apparatus according to the invention includes a vehicle speed estimator and a driving-force controller. The traction control apparatus includes a vehicle state determiner that determines whether the vehicle speed of the construction vehicle estimated by the vehicle speed estimator and the driving-force control by the driving-force controller are balanced, and a driving-force control changer that changes a driving-force control by the driving-force controller when the vehicle state determiner determines the vehicle speed and the driving-force control to be unbalanced.

Abstract: A steering operation force detection device for a steering wheel including a steering wheel rim having a right-side rim section and a left-side rim section. The device includes load cells that detect six component forces of the steering operation force acting on the right-side rim section and the left-side rim section consisting of forces in three axial directions and moments about three axes. The device includes a steering angle detection sensor that detects a steering angle of the steering wheel, and an inertial force component correcting unit that derives an inertial force component acting on the right-side rim section and the left-side rim section due to rotation of the steering wheel, based on an amount of displacement of the steering angle detected by the steering angle detection sensor, and that corrects the component force detected by the load cells to eliminate an effect of the derived inertial force component.

Abstract: A slip angle differential value calculation unit 34 calculates a slip angle differential value of a body of a vehicle, a braking force application prohibiting unit 35 prohibits the application of braking force by a braking force application unit 33 when a yaw rate detection value takes a positive value and the sip angle differential value is a positive judgment threshold or more or when the yaw rate detection value takes a negative value and the slip angle differential value is a negative judgment threshold or less.

Abstract: A slip suppression control system for a vehicle includes a monitored value detecting device for detecting a monitored value corresponding to a difference between a rotational speed of a front wheel and a rotational speed of a rear wheel of the vehicle, a threshold determiner unit configured to determine a relationship between the monitored value detected by the monitored value detecting device and a threshold; and a controller configured to initiate traction control for reducing a driving power of a drive wheel when the threshold determiner unit determines that the monitored value exceeds a predetermined start threshold, wherein the threshold determiner unit is configured to count a return time which lapses from when the monitored value exceeds the start threshold until the monitored value becomes smaller than second threshold; and wherein the controller is configured to determine whether or not to terminate the traction control based on the return time.

Abstract: An aircraft braking control system for an aircraft braking system that comprises at least one first side braking unit (30L) for braking a respective wheel (22L) positioned on a first side of a longitudinal axis of an aircraft and at least one second side braking unit (30R) for braking a respective wheel (22R) positioned on a second side of said longitudinal axis, said braking control system comprising a brake control unit (40) operable to process respective measurements of performance of the braking units (30L, 30R) and according to the process results to provide command signals for controlling respective braking forces applied by said first and second braking units (30L, 30R) to reduce any difference between a first side braking force applied on the first side of the longitudinal axis by said at least one first side braking unit (30L) and a second side braking force applied on said second side by said at least one second side braking unit (30R).

Abstract: The embodiments of the invention are directed to a method and apparatus to generate pulsing lights where parameters such as frequency, degree of brightness, and the number of pulses vary depending on the duration of the brake pedal application, the time interval between consecutive brake applications, and the deceleration rate of the vehicle, as well as optionally its distance from other vehicles. The brake light control system incorporates a microprocessor having multiple inputs, including a brake pedal sensor, and its output connected via an amplifying circuit to the lights. Other inputs of the microprocessor include a deceleration sensor, a distance sensor, and an optional manual pushbutton or switch located within the driver's reach. The lights controlled by the system may include brake lights, emergency lights, or additional lights shaped into a warning triangle.

Abstract: The apparatus comprises a measured signal detector 11, a vehicle parameter obtainer 12, a sideslip angle temporary estimator 13, a sideslip angle differential corresponding value computer 14 and a sideslip angle real estimator 15. A sideslip angle temporary estimate value is computed from one or plural vehicle parameters including at least the mass. A sideslip angle differential corresponding value is computed from a measured signal and the vehicle parameters including no mass. A sideslip angle is derived from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value. A sideslip can be detected without a steering angle detection mechanism.

Abstract: A method of reducing wheel slip and wheel locking in an electric traction vehicle includes receiving in a first controller a first signal value representative of a first amount of torque to be applied to at least one wheel of the electric traction vehicle by a motor coupled to the wheel and to the first controller, and a second signal value representative of a reference speed of the electric traction vehicle. The first and second signal values are generated by a second controller in communication with the first controller. The method also includes receiving in the first controller a third signal value representative of a speed of the at least one wheel, determining in the first controller a torque output signal using the first, second, and third signal values; and transmitting the torque output signal from the first controller to the motor.

Abstract: An electronic brake control device for a wheeled vehicle that operates in a off-road driving mode. The device including one or more inputs for receiving sensor signals to determine wheel speed, wheel retardation, and wheel acceleration, a primary control logic for modulating brake pressure during time periods under normal vehicle operating conditions, a secondary control logic for modulating brake pressure under off-road vehicle operating conditions when the off-road mode is activated, and a processing unit that calculates a vehicle reference speed and a wheel slip of each sensed and antilock brake system controlled wheel, compares the actual vehicle speed to the vehicle reference speed, and calculates at least one of a variable wheel slip threshold and a variable time period for an extended wheel slippage for controlling at least one of the individual wheel slip and the time period for an extended wheel slip.

Abstract: A method for classifying a road surface condition by estimating the maximum tire/road surface coefficient of friction and actively inducing acceleration or deceleration. In one embodiment, the induced acceleration/deceleration is provided by applying torque to the driven wheels of the vehicle. The speeds of the driven and non-driven wheels are measured. The tire/road surface coefficient of friction and the driven wheel slip ratio are calculated from the wheel speeds. The tire/road surface coefficient of friction and the wheel slip ratio are used to determine the slope of the wheel slip/coefficient of friction curve, which is used to classify the road surface condition.

Abstract: System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (?). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

Abstract: A the control unit 20 includes an initial current value calculation unit 22 for calculating an initial current value when a caliper pressure shifts to a pressure increasing state, a target current value setting unit 23 which, when no pressure increasing cycle was performed last time, estimates a road surface friction coefficient, determines a target differential pressure based on the road surface friction coefficient so estimated, and sets a current value corresponding to this target differential pressure as a target current value, and a valve opening amount adjusting unit 25 which reduces an energization amount from the initial current value towards the target current value with a predetermined gradient.

Abstract: System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (?). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

Abstract: A method for electronically regulating brake force distribution to the front axle and the rear axle of a motor vehicle (EBV control), wherein the rotational behavior of the vehicle wheels is determined, compared with the vehicle speed or vehicle reference speed and/or with the changes of these variables, and evaluated to limit the slip on the rear-wheel brakes by modulating the braking pressure. The brake force distribution is controlled in dependence on the sum signals obtained by addition of acceleration values determined on each individual rear wheel and/or by addition of slip values determined on each individual rear wheel. It is particularly arranged for to weight the sum signals with variable sum factors and evaluate them as a criterion for triggering the EBV control (so-called EBV plus control).

Abstract: A roll control system (16) for an automotive vehicle (10) is used to detect if one of the plurality of wheels (12) is lifted. The system generates a pressure request to determine if the wheel has lifted. A roll control pressure request may also be generated. The wheel lift pressure is suppressed in response to the roll control pressure request. The system may also store a peak wheel speed after the initiation of a build cycle so that the peak wheel speed is used in the wheel lift determination. Also, the system may have an ABS monitor mode which uses the build and release cycles of the ABS system to determine whether a wheel has lifted.

Abstract: A system for controlling at least one of the slip threshold and the time period for an extended wheel slippage for a vehicle that is operating in the off-road ABS mode. When driving in a curve pattern and/or at high speeds, the individual wheel speeds are controlled with a lower slip threshold and/or shorter time period for the extended wheel slippage than when driving straight ahead and/or at a lower vehicle speed.

Abstract: The present invention is directed to monitoring the loss of pressure in one or more tires by detecting the angular speed variations of one or more wheels of the vehicle over a specified wheel revolution period and analyzing the vibration of the speed various. Changes in the frequency are related to pressure loss, which is indicated to the driver, for example, by displaying the tire pressure loss information on a display.

Abstract: A wheelslip is calculated from wheel speed, recorded by speed sensors (6), by a controller (8). A pre-set value for the wheelslip is regulated by means of a proportional controller. Parallel thereto, a set brake pressure for the wheel brakes (3) is fixed, which is determined by the controller (8), by means of the instantaneous wheel torque (Mmomentan) transferred to the ground by the particular wheel (2).

Abstract: The invention relates to a method for controlling or regulating the build-up of brake pressure when full braking at a high friction coefficient, which is provided for an independent brake system with anti-lock control and wherein the rotational behavior of the individual vehicle wheels and the instantaneous friction coefficient are determined and evaluated for the control and/or regulation of the brake pressure, said method comprising the following steps:

Abstract: The brake system of the invention, during the ABS control mode, corrects the target slip rate in accordance with the turning of the vehicle, and determines whether the vehicle is running on a poor surface road. If the vehicle is running on a poor surface road, the system sets a target slip rate that provides a greater longitudinal force than the aforementioned target slip rate.

Abstract: The present invention relates to a method and to a system for monitoring the effectiveness of rail vehicle braking systems and, in response to certain criteria, initiating one or more of a safety braking and a switching-off of a brake-force-limiting or brake-force-reducing device of the braking system when a defined desired slip is not reached.

Abstract: The invention provides a brake control device for a vehicle, a brake control method and a recording medium having a program causing a computer to perform the brake control method. A tire friction characteristic with respect to a vehicle velocity or a wheel velocity is memorized in advance. When a brake is put on to the vehicle, a current slip ratio or a current slip velocity is found and an optimum slip ratio or an optimum slip velocity is calculated using the tire friction characteristic. Then, a difference between the optimum slip ratio and the found current slip ratio or a difference between the optimum slip velocity and the found current slip velocity is compared with a predetermined value. According to a result of the comparison, a braking force applied to the vehicle is controlled.

Abstract: Regenerative braking systems and methods for use in an electric vehicle, such as a battery-powered vehicle, a fuel cell vehicle, and a hybrid electric vehicle, including an electric motor system operable for generating torque to drive and control the electric vehicle, a traction controller operable for controlling the electric motor system, a brake system operable for generating torque to drive and control the electric vehicle, and a brake controller operable for controlling the brake system. Traction functions are strictly allocated to the traction controller, braking functions are strictly allocated to the brake controller, and the brake controller is subordinated to the traction controller. The regenerative braking systems and methods also including a communications system operable for transferring information between the traction controller and the brake controller.

Abstract: The invention provides a brake control device for a vehicle, a brake control method and a recording medium having a program causing a computer to perform the brake control method. A tire friction characteristic with respect to a vehicle velocity or a wheel velocity is memorized in advance. When a brake is put on to the vehicle, a current slip ratio or a current slip velocity is found and an optimum slip ratio or an optimum slip velocity is calculated using the tire friction characteristic. Then, a difference between the optimum slip ratio and the found current slip ratio or a difference between the optimum slip velocity and the found current slip velocity is compared with a predetermined value. According to a result of the comparison, a braking force applied to the vehicle is controlled.

Abstract: A method and device that determines a quantity describing a speed of a vehicle. In this method, for at least two wheels, the speeds of these wheels are ascertained, and the quantity describing the speed of the vehicle is ascertained at least as a function of the speed of one selected wheel. The selection of the wheel required for determining the quantity describing the speed of the vehicle takes place at least as a function of an operating state of the vehicle, which is described at least by the speeds of at least two wheels or the quantity ascertained as a function at least of these speeds.

Abstract: In a vehicle brake apparatus for executing ABS control to prevent a wheel from locking in such a manner that braking force is controlled so as to keep a slip ratio of a wheel at a target slip ratio so that an excessive drop of a wheel speed from a vehicle body speed is adjusted, an output current for driving a braking actuator is set to a current on which oscillating waves are superimposed during ABS control so that the wheel speed changes to show oscillating waves. Even if the wheel speed once drops to an extent that the slip ratio exceeds the target slip ratio, further decrease of the wheel speed is restricted and the wheel speed turns to an increase soon and this cycle is repeated. Accordingly, there occurs no excessive drop of the wheel speed due to the response delay so that sufficient braking force is generated.

Abstract: A system and method for ABS stability control is provided, the method comprising the steps of determining whether a first wheel is in an ABS mode; determining whether the first wheel is in an apply mode; determining whether a second parallel wheel is in the release mode; calculating an adjusted wheel slip if the first wheel is in the ABS mode, the first wheel is in the apply mode, and the second parallel wheel is in the release mode; and determining a control mode for the first wheel using the adjusted wheel slip.

Abstract: In a vehicle brake apparatus for executing ABS control to prevent a wheel from locking in such a manner that braking force is controlled so as to keep a slip ratio of a wheel at a target slip ratio so that an excessive drop of a wheel speed from a vehicle body speed is adjusted, an output current for driving a braking actuator is set to a current on which oscillating waves are superimposed during ABS control so that the wheel speed changes to show oscillating waves. Even if the wheel speed once drops to an extent that the slip ratio exceeds the target slip ratio, further decrease of the wheel speed is restricted and the wheel speed turns to an increase soon and this cycle is repeated. Accordingly, there occurs no excessive drop of the wheel speed due to the response delay so that sufficient braking force is generated.

Abstract: The present invention is directed to a brake control system for a vehicle, wherein a first valve device for opening or closing a main passage, a hydraulic pressure pump, and a second valve device for opening or closing an auxiliary passage are disposed in each hydraulic pressure circuit of a dual hydraulic pressure circuit system. At least one of the first and second valve devices is controlled to equalize the slip rates of a pair of wheels, with the wheel brake cylinders operatively mounted thereon and disposed in different hydraulic circuits, and placed at the left side and right side of the vehicle, respectively, when a difference between the slip rates of the wheels placed at the left side and right side exceeds a predetermined value.

Abstract: A control device for controlling the running behavior of a four wheeled vehicle has a mathematical tire model of each wheel defining a relationship between longitudinal and lateral forces vs. slip ratio, synthesizes the mathematical tire model at zero slip and a control input from an outside running behavior controller such as a spin controller or a driftout controller to generate nominal values of longitudinal force, lateral force and yaw moment of the vehicle body, and controls the slip ratio of the wheels through cyclic adjustment so as to approach the differences between the nominal values and the actual values in the longitudinal force, lateral force and yaw moment of the vehicle body to the corresponding differences of those parameters due to differentiation thereof by the slip ratio based upon the mathematical tire model.

Abstract: In a wheel condition estimating apparatus for estimating a wheel condition in a wheel resonance system including a frictional characteristic between a tire and a road surface, a transfer characteristic of the wheel resonance system from the vibration input to the output response is expressed by a transfer function including, as an unknown component of a wheel condition, a physical quantity relating to ease of a slipping between the tire and the road surface, an output response with respect to the vibration input to the wheel resonance system is detected and the unknown component which substantially satisfies the detected output response is estimated on the basis of the transfer function.

Abstract: The present invention is directed to an unpaved road detection system wherein a slip rate is calculated on the basis of wheel speeds detected by wheel speed sensors and a vehicle speed detected by a vehicle speed detection device. A linear acceleration sensor is provided for detecting an acceleration of the vehicle in a longitudinal direction thereof to produce a signal linearly proportional to the detected acceleration. A variation of the signal produced by the linear acceleration sensor corresponding to the variation of the slip rate is calculated. The variation of the signal is compared with a reference value. If the variation exceeds the reference value, it is determined that the vehicle is traveling on an unpaved road.

Abstract: According to one aspect of the invention, a brake controller is provided for controlling an amount of braking force applied to a plurality of wheels of a vehicle running on a surface. Each of the plurality of wheels has a sensor for providing an output signal indicative of a corresponding speed of the wheel. The controller includes a state estimator which estimates an amount of friction between each of the plurality of wheels and the surface based on the output signals of the sensors, the estimated amount of friction for each wheel being based on the estimated amount of friction for the other wheels. The controller further includes a control output which adjusts the amount of braking force applied to the plurality of wheels based on the estimated amount of friction.

Abstract: In a method of improving the control behavior of an anti-lock control system, in particular, of the steerability and driving stability during deceleration in a curve, the slip condition of the individual wheels, by determining a slip differential value (SDI) , namely the difference between the momentary wheel slip (&Dgr;v) and the filtered wheel slip (fwsi) and a slip integral or slip summation value (SIi) are detected. The said slip summation value (SIi) is formed by integration of the difference between the momentary wheel slip (&Dgr;vi) and a predetermined permissive slip value (Serl.). Based on these quantities, a wheel condition value is determined which represents the angular slip of the wheel or the transverse dynamics of the wheel. By comparing the values of angular slip of the individual vehicle wheels it is possible to determine the vehicle condition, in particular, an “understeering” or “oversteering” situation.

Abstract: An antilock brake control device of this invention includes a electronic control device 30 to operate antilock brake control and the hydraulic unit 20 which operates by a control signal from the electronic control device 30, wherein the maximum target amount of slip is preset, the rate of pressure reduction is determined so as to vary the amount of slip along a quadratic curve which regards the predetermined maximum target amount of slip as a extreme value, and the fluid pressure of the wheel cylinder is reduced at the rate of pressure reduction.

Abstract: An antiskid brake controller utilizes measured wheel speed in order to provide brake control for a vehicle such as an aircraft. The controller estimates the speed of the vehicle via approximation based on the measured wheel speed and a model of the mu-slip ratio curve representing the wheel to running surface friction characteristics. The controller then predicts the slip ratio based on the measured wheel speed and estimated vehicle speed. The difference between the predicted slip ratio and a predefined desired slip ratio is used to drive a modified integral controller segment to achieve maximum obtainable friction. In another embodiment, the controller measures and integrates the applied braking torque in order to estimate the vehicle speed. The estimated vehicle speed is again combined with the measured wheel speed to determine an estimated slip ratio. The controller compares the estimated slip ratio with a predefined desired slip ratio which again drives a modified integral controller.

Abstract: An anti-lock braking system includes a friction torque gradient estimating unit for estimating, from a small number of parameters, the gradient of friction torque with respect to a slip speed, and controls a braking force acting on wheels on the basis of the friction torque gradient estimated by the friction torque gradient estimating unit. The friction torque gradient estimating unit may employ several types of estimating methods; e.g.