Patent ID: 8764126

Claim:
A controller for controlling braking of a wheel of a vehicle, the controller comprising: a first connection to a friction brake; a second connection to a motor/generator configured to drive the wheel in a driving mode and to brake the wheel in a regenerative braking mode; a third connection to a plurality of sensors sensing operating parameters of the vehicle; and a fuzzy logic module configured to determine a fuzzy based weighting factor based on a speed of the vehicle, determine a stability of the vehicle and the wheel based on data from the plurality of sensors and the fuzzy based weighting factor, and allocate braking force between the friction brake and the motor/generator operating in the regenerative braking mode based on the stability of the vehicle and the wheel; wherein the controller determines a ratio of regenerative braking to the friction braking based on Y 1 =γ*MIN( X 1 ,X 2 )+(1−γ)*( X 1 +X 2 )/2 Y 2 =γ*MIN( Y 1 ,X 3 )+(1−γ)*( Y 1 +X 3 )/2 Y 3 =γ*MIN( Y 2 ,X 4 )+(1−γ)*( Y 2 +X 4 )/2 where γ=fuzzy based weighting factor based on a speed of the vehicle, X 1 is an output of a first fuzzy logic operation based on an acceleration/deceleration of the wheel, X 2 is an output of a second fuzz logic operation based on a jerk of the wheel, X 3 is an output of a third fuzz logic operation based on a slip of the wheel, X 4 is an output of a fourth fuzzy logic operation based on a lateral acceleration of the vehicle, X 5 is an output of a fifth fuzz logic operation based on a yaw rate of the vehicle, and the Ratio of regenerative braking=γ*MIN(Y 3 ,X 5 )+(1−γ)*(Y 3 +X 5 )/2.