| 摘要 |
A method of controlling a braking force applied to at least one wheel supporting a tire that includes steps of issuing a braking command ( 100 ), commanding an amount of tire stretch based on the braking command ( 102 ), estimating an amount of tire stretch for the tire based at least in part on wheel speed ( 104 ), and controlling the braking force applied to the wheel so that the estimated amount of tire stretch approaches the commanded amount of tire stretch ( 106 ). Also, a system ( 10 ) for controlling braking based on a determination of tire stretch that includes a tire stretch command generator ( 12 ) generating a tire stretch command based on a braking command, a reference velocity estimator ( 46 ) producing a first signal indicative of a velocity, a tire stretch estimator ( 30 ) producing a second signal indicative of an amount of tire stretch, and a brake force command generator ( 18 ) generating a brake force command based on the braking command, the first signal and the second signal.
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