| 摘要 |
In order to control the wheel better with the greatest possible degree of slip, either with respect to braking or with respect to acceleration, the following method is used: The speed of each wheel is detected and compared with a control variable. The braking or driving force of the respective wheel is controlled with the resulting error signal, the maximum value (slip control) or minimum value (skid control), which values can be limited to an acceptable value, of all the measured wheel speeds being used as control variable. It is determined which wheel of all the controlled wheels is the last to assume an unacceptable degree of slip (wheel 1). As a function of this information, the brake or drive force of the last wheel (wheel 1) is reduced during a specific period which is prespecified or determined to the effect that the unacceptable slip occurring at the last wheel (wheel 1) is eliminated. <IMAGE> |
