Anti-lock braking system for four wheel drive motor vehicle

摘要

The ABS system measures the speed of each wheel, followed by the longitudinal acceleration or deceleration. A "misalignment value" is calculated next. Then it is ascertained whether the four wheels are all turning. If the four wheels are not turning, an estimated vehicle speed is passed to the ABS control unit as a function of the wheel speeds along with the sum of the acceleration or deceleration and the "misalignment value". If the wheels are all turning, the same happens except that the misalignment value is omitted. If the lowest of the wheel speeds is higher than the estimated vehicle speed, then it is known that all the wheels are turning.