| 摘要 |
A vehicle including a respective brake for each driven, ground-engaging member that is operable under the control of driven member brake commands generated in a controller, a ground-engaging, steerable member that defines a steering angle, a sensor for generating a steering angle signal that is indicative of the steering angle, a sensor for generating a vehicle speed signal, and a sensor for generating a respective driven member speed signal. The controller is capable of generating driven member brake commands based on steering angle and vehicle speed signals together with a driven member slip estimation signal that is generated from the driven member speed signals. |
| 主权项 |
1. A vehicle including a frame, body, or chassis defining left and right sides and comprising:
at least one source of motive power; at least one respective, driven, ground-engaging member supported on each side of the vehicle and configured to move relative to the vehicle during motion of the vehicle; at least one driven member drive train for connecting the source so as to cause movement of at least one of the driven, ground-engaging members and the vehicle; a respective brake for each driven, ground-engaging member, that controlled by driven member brake commands generated in a controller to provide a respective braking effort for each of the driven, ground-engaging members; at least one ground-engaging, steerable member that defines a steering angle, relative to the vehicle, that is configured to be adjusted via operation of one or more control members; at least one sensor configured to generate a steering angle signal that is indicative of the steering angle; at least one sensor configured to generate a vehicle speed signal that is indicative of the vehicle speed relative to the ground; and at least one sensor configured to generate a respective driven member speed signal that is indicative of a movement speed of each driven, ground-engaging member relative to the vehicle, wherein the controller is configured to: generate a driven member slip estimation based on the respective driven member speed signals; and generate the driven member brake commands based on the steering angle, the vehicle speed, and the driven member slip estimation, and wherein the driven member brake commands are generated only while the steering angle exceeds a predetermined steering angle threshold and while the vehicle speed is below a predetermined vehicle speed threshold. |
