| 摘要 |
A method of controlling the brake system of a vehicle comprises detecting that the vehicle is travelling across a slope based on the value(s) of an electrical signal of one or more vehicle-related parameters. The brake torque being applied to one or more wheels on one side of the vehicle is increased, and the brake torque being applied to one or more wheels on the other side of the vehicle is decreased. Brake torque may vary front to back as well as on the uphill and downhill sides. This preferably occurs when the gradient of the slope is above a threshold, the speed of the vehicle is below a threshold, the commanded brake torque is below a threshold and /or the terrain is of a type having a deformable surface such as sand, gravel, mud or grass. |
