Patent ID: 8398180
Filing Date: 2013-03-19
Classification: B60T,B60W,F16H

Abstract:
1. A method of braking a vehicle which includes ground engaging wheels, a torque controller, and a braking system with an anti-lock braking system (ABS) capability and including an operator actuated brake control, said method comprising the steps of: operating the ABS in response to an operator engaging the brake control, sensing slippage or impending slippage of at least one of the ground engaging wheels relative to the ground while the brake control is engaged and vehicle speed is decreasing during operation of the ABS, while the brake control is engaged and vehicle speed is decreasing during operation of the ABS, varying braking force applied to the at least one of the ground engaging wheels between, in alternating periods, an applied state in which the braking force is applied, and a released state in which the braking force is released, and when slippage or impending slippage of at least one of the ground engaging wheels is sensed, operating the torque controller to apply torque while the brake control is engaged and vehicle speed is decreasing during operation of the ABS to the at least one ground engaging wheel undergoing slippage or impending slippage to assist acceleration of the at least one ground engaging wheel, wherein the torque is applied during the released state periods in which the braking force is released by the ABS.