| 摘要 |
A control system ( 12 ) for an automotive vehicle includes a wheel speed sensor ( 18 ) generating a rotational speed signal and a controller ( 14 ) coupled to the wheel speed sensor. The controller determines a vehicle speed, calculates wheel slip based upon the vehicle speed and the rotational speed, estimates a normal force on the wheel, calculates a modified brake torque signal in response to the wheel slip and the normal force, and actuates the wheel brake in response to the modified brake torque signal.
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