BRAKE ANTI-LOCKING CONTROL METHOD

摘要

Described is a brake anti-locking control method in which the brake pressure at the wheels is varied when they show a tendency to lock. A steering angle delta 1 is computed from the lateral acceleration and speed of the vehicle and a series of constants, and the difference calculated between the steering angle actually measured delta 2 and the calculated angle delta 1. This difference ( delta 2 - delta 1) is used to displace the working point on the mu vs. slip curve in the direction which will give an increase in lateral stability.