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Automatic braking method and apparatus

  • US 4,367,529 A
  • Filed: 12/07/1979
  • Issued: 01/04/1983
  • Est. Priority Date: 11/29/1976
  • Status: Expired due to Term
First Claim
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1. A system for automatically controlling the braking of a vehicle having a braking means, comprising:

  • (a) means for generating a program speed signal Vp which varies according to a given plan of deceleration γ

    , comprising an integrator receiving a voltage representing the plan of deceleration γ and

    a voltage representing initial speed Vo;

    (b) sensing means for generating a signal Va which is a function of the true speed of the vehicle;

    (c) brake regulator means for comparing said signal Va which is a function of the true speed of the vehicle with said signal Vp of said program speed and for producing a difference signal ε

    representative of the comparison;

    (d) means, responsive to said difference signal ε

    , for controlling the braking means of the vehicle to cause braking according to said plan of deceleration;

    (e) means, operative when braking is not effective to cause the true speed Va to be controlled in accordance with the program speed Vp, for controlling the braking means with an antiskidding function other than the difference signal ε

    , including an antiskidding regulator means for generating an antiskidding braking command signal S to control the braking means of the vehicle.

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