Patent ID: 9637004
Date: 2017-05-02
CPC Classifications: B60L,B60T,Y10S

Claim:
1. A method for controlling an application of regenerative brake torque to a plurality of wheels of at least one of a hybrid electric vehicle or an electric vehicle, to avoid brake instability, the method comprising: sensing an angle of a steering wheel of the vehicle; sensing a speed of the vehicle; sensing a brake pedal position as an operator of the vehicle engages a brake pedal of the vehicle; sensing a wheel slip of each of a pair of front wheels of the vehicle; sensing a wheel slip of each one of a pair of rear wheels of the vehicle; determining a commanded lateral acceleration representing a steady state lateral acceleration that the vehicle would reach at an actual vehicle speed and with a presently sensed steering wheel angle; controlling the application of regenerative brake torque based on both of: wherein the at least one predetermined wheel slip limit is determined based at least in part on the determined commanded lateral acceleration.