| 摘要 |
The invention provides a braking control method for a vehicle having a plurality of wheels fitted with tires and with brakes, the control method including generating a braking setpoint for each wheel in response to a braking order, and comprising the following steps for each wheel: regularly updating a grip model C<SUB>a</SUB>/C<SUB>0</SUB>=f<SUB>q</SUB><SUB><SUB2>1</SUB2></SUB><SUB>, . . . q</SUB><SUB><SUB2>n </SUB2></SUB>(tau) representative of a relationship between a coefficient of friction and a wheel slip rate; using the regularly rest grip model and its characteristic shape to establish in a given prediction horizon, the variation for the braking setpoint that, while complying with the braking order and predictable variation therein during the prediction horizon, also complies with a given calculation constraint; and retaining as the value for the braking setpoint a value of the variation as determined in this way that corresponds to a first calculation cycle in the prediction horizon.
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