Patent ID: 7837279

Claim:
A method of detecting skidding and adaptively applying brake pressure for braking of a wheel brake for a wheel of a vehicle, comprising the steps of: sensing brake torque of the wheel brake and generating brake torque signals that are a function of the brake torque applied to the wheel; determining wheel velocity of the wheel and generating a wheel velocity signal indicative of the wheel velocity; generating a reference velocity signal; comparing said wheel velocity signal with said reference velocity signal and generating wheel velocity error signals indicative of the difference between said wheel velocity signal and said reference velocity signal; adjusting said wheel velocity error signals to provide adjusted wheel velocity error signals responsive to said wheel velocity signal and providing an anti-skid control signal based upon said adjusted wheel velocity error signals; generating a command brake torque signal in response to a deceleration command; comparing said brake torque signals with said command brake torque signal and generating brake torque difference signals indicative of the difference between said brake torque signals and said command brake torque signal; providing an adjusted brake torque signal to said wheel brake to control said wheel brake independently of operator brake application, in response to said brake torque difference signals; and initializing the anti-skid control signal when the wheel velocity error signal becomes greater than a velocity error threshold, to thereby minimize delay of said means for adjusting said wheel velocity error signals in controlling braking.