Vehicle braking system controller/road friction and hill slope tracking system

摘要

A method and system for controlling a vehicle braking system on slippery surfaces and hills uses estimates of external conditions from vehicle and engine measurements in a feedforward manner to control vehicle brake pressure on slippery or changing surfaces and hills to compensate for external disturbances in an optimal manner. The present invention provides a dual feedforward/feedback system for and method of controlling vehicle braking. The method includes the step of generating a first disturbance value related to the slope of a hill and a second disturbance value related to the coefficient of friction of the road surface. The first and second disturbance values are then summed to generate a feedforward control value for controlling the level of vehicle braking. The system for controlling vehicle braking includes a first disturbance value related to the slope of a hill and a second disturbance value related to the coefficient of friction of the road surface. The first and second disturbance values are summed to generate a feedforward control value for controlling the level of vehicle braking.