Patent ID: 8112211

Claim:
A method for controlled braking of a vehicle having a hydrostatic drive mechanism, the hydrostatic drive mechanism having at least two pivotal hydraulic motors which are connected to a respective axle of the drive mechanism and are driven by a hydraulic pump and regulated by a respective regulating circuit, with regulation of the regulating circuit of the hydraulic motors preventing wheels from locking, the method comprising: continuously determining, for each axle of the drive mechanism, a respective reference variable (F) comprising the difference between a set value and the actual value of a speed of the driven wheel, feeding said reference variable (F) back to the respective regulating circuit, dynamically determining a displacement of the axle load (ΔF) of the vehicle from a current deceleration (a) of the vehicle, wherein the current deceleration (a) is determined by determining the difference between a current linear velocity (v) of the vehicle and the ground underneath, determining a resultant braking force (F Br,v , F Br,h ) acting on the axle driven by the hydraulic motor being determined and putting the resultant braking force (F Br,v , F Br,h ) into effect by way of the hydraulic motor associated with the respective axle by adjusting a corresponding pivot angle, and providing deceleration-dependent distribution of the braking force (F Br,v , F Br,h ) to the respective axle by a control program.