Method and system using tire stretch data to control braking
First Claim
1. A method of controlling a braking force applied to at least one wheel supporting a tire comprising the steps of:
- issuing a braking command;
commanding an amount of tire stretch based on the braking command;
estimating an amount of tire stretch for the tire based at least in part on wheel speed; and
controlling the braking force applied to the wheel so that the estimated amount of tire stretch approaches the commanded amount of tire stretch.
1 Assignment
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Accused Products
Abstract
A method of controlling a braking force applied to at least one wheel supporting a tire that includes steps of issuing a braking command (100), commanding an amount of tire stretch based on the braking command (102), estimating an amount of tire stretch for the tire based at least in part on wheel speed (104), and controlling the braking force applied to the wheel so that the estimated amount of tire stretch approaches the commanded amount of tire stretch (106). Also, a system (10) for controlling braking based on a determination of tire stretch that includes a tire stretch command generator (12) generating a tire stretch command based on a braking command, a reference velocity estimator (46) producing a first signal indicative of a velocity, a tire stretch estimator (30) producing a second signal indicative of an amount of tire stretch, and a brake force command generator (18) generating a brake force command based on the braking command, the first signal and the second signal.
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Citations
15 Claims
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1. A method of controlling a braking force applied to at least one wheel supporting a tire comprising the steps of:
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issuing a braking command; commanding an amount of tire stretch based on the braking command; estimating an amount of tire stretch for the tire based at least in part on wheel speed; and controlling the braking force applied to the wheel so that the estimated amount of tire stretch approaches the commanded amount of tire stretch. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A braking system comprising:
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a tire stretch command generator generating a tire stretch command based on a braking command; a reference velocity estimator producing a first signal indicative of a velocity; a tire stretch estimator producing a second signal indicative of an amount of tire stretch; and a brake force command generator generating a brake force command based on the braking command, the first signal and the second signal. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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Specification