Patent ID: 6851649

Claim:
A method for slowing a vehicle on the ground, the vehicle having at least first and second wheels for supporting at least a portion of the vehicle on the ground, the vehicle further having a first brake and a first speed sensor associated with the first wheel, and a second brake and a second speed sensor associated with the second wheel, the method comprising: receiving a first control input to slow the vehicle; in response to receiving the first control input, applying the first brake to the first wheel and the second brake to the second wheel; determining if the first and second speed sensors are operative; when the first and second speed sensors are operative, determining if a first speed of the first wheel differs from a second speed of the second wheel by a preset amount; and if the first speed differs from the second speed by the preset amount, changing the application of at least one of the first and second brakes; when at least one of the first and second speed sensors is inoperative, continuing to apply the first brake to the first wheel and the second brake to the second wheel while receiving the first control input.