Work machine speed control braking

A method of automatically slowing a work machine to a stop, the method comprising:

• determining a grade force based on a weight of the machine provided by a load sensor and a grade at which the machine is disposed provided by a grade sensor;
• determining a deceleration force based on a target deceleration and the weight of the machine;
• monitoring a speed at which the machine is traveling using a speed sensor;
• determining an actual deceleration of the machine based on the monitored speed at which the machine is traveling;
• determining a deceleration error based on a difference between the actual deceleration and the target deceleration;
• determining a force correction based on the deceleration error;
• and
• controlling a brake system to apply a total brake force equal to the sum of the grade force, the deceleration force, and the force correction.

A machine comprising:

• means for propelling the machine;
• means for slowing travel of the machine;
• means for determining a speed at which the machine is traveling;
• means for determining a grade at which the machine is disposed;
• means for determining a weight of the machine;
• and
• means for controlling a speed of the machine, the means for controlling configured to:
• determine a grade force based on the weight of the machine and the grade at which the machine is disposed;
• determine a deceleration force based on a target deceleration and the weight of the machine;
• monitor the speed at which the machine is traveling;
• determine an actual deceleration of the machine based on the monitored speed at which the machine is traveling;
• determine a deceleration error based on a difference between the actual deceleration and the target deceleration;
• determine a force correction based on the deceleration error;
• and
• control the means for slowing travel of the machine to apply a total brake force equal to the sum of the grade force, the deceleration force, and the force correction.