Method for determining optimal abs slip and deceleration thresholds

Abstract

A vehicle anti-lock braking system includes a brake pedal and a brake modulator. The brake system reduces braking pressure by an initial pressure reduction after detecting insipient wheel lock. Vehicle deceleration is measured as a function of brake pedal position. A first table is updated with the vehicle deceleration and the brake pedal position. A coefficient of friction of a road surface is estimated based on the first table. Wheel slip and deceleration target thresholds are determined based on the coefficient of friction. The wheel slip and deceleration target thresholds are used to populate a command table for the anti-lock braking system. Brake heat, brake torque, vehicle weight and grade are estimated. Release and apply pressures are calculated from an adjusted coefficient of friction, a coefficient of friction and the grade.

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