System balancing braking and drive applied to vehicle wheels, detects whether replacement wheel has been fitted before making appropriate connection

摘要

Sensors (105ij) measure wheel (101ij) rotary motion, outputting signals (Nij). It is determined whether a replacement wheel of smaller diameter than the rest is fitted. Defects are detected at the sensors (105ij). Conditionally, an adjustment is effected at a wheel associated with a sensor where a defect is detected. The adjustment comprises braking and/or a change in drive (torque) at the relevant wheel, as a function of measured rotary motion of a wheel on the same side of the vehicle but on a different (e.g. the other) axis. The condition of such adjustment is failure to detect that the wheel on the same side is not a substitute. An Independent claim is included for corresponding equipment