Dynamic brake biasing for articulating vehicles

A dynamic brake biasing system comprising:

• at least one wheel of an articulating vehicle having a front frame, a rear frame connected by an articulation joint, front and rear axles, the at least one wheel mounted on one of the front and rear axles and configured to be stopped by a friction brake or driven by an electric motor, the articulating vehicle having a center of gravity, a vehicle mass, a vehicle slope, an articulation angle, a vehicle speed, and a vehicle direction;
• and
• a controller configured to:
• measure a wheel speed of the at least one wheel as a measured wheel speed,
• determine whether the measured wheel speed exceeds a slip value threshold, and
• if the measured wheel speed exceeds the slip value threshold,
• calculate a wheel speed control value based on the center of gravity, a location of the at least one wheel relative to an axis of the vehicle, and at least one of:
• the vehicle mass, the vehicle slope, the articulation angle, the vehicle speed, and the vehicle direction, and
• control a desired wheel speed of the at least one wheel based on the wheel speed control value.

A controller configured to:

• receive a measured wheel speed of at least one wheel of an articulating vehicle having a front frame, a rear frame connected by an articulation joint, front and rear axles, the at least one wheel mounted on one of the front and rear axles and configured to be stopped by a friction brake or driven by an electric motor;
• receive a vehicle mass of the vehicle, a vehicle slope of the vehicle, an articulation angle of the vehicle, a vehicle speed of the vehicle, and a vehicle direction of the vehicle;
• determine whether the measured wheel speed exceeds a slip value threshold;
• and
• if the measured wheel speed exceeds the slip value threshold,
• calculate a wheel speed control value based on a center of gravity of the vehicle, a location of the at least one wheel relative to an axis of the vehicle, and at least one of the vehicle mass, the vehicle slope, the articulation angle, the vehicle speed, and the vehicle direction;
• and
• control a desired wheel speed of the at least one wheel based on the wheel speed control value.