Dynamic braking on three wheels

A method for emergency braking of a vehicle wheel equipped with an electric parking brake, the vehicle having at least two axles and the wheel being on a first of said at least two axles, by implementing either an anti-lock braking mode, or an incremental braking mode, the anti-lock braking mode being provided by controlling the parking brake in compliance with the following rules, whereas slipping of the wheel is obtained by calculating a difference between a speed of rotation of the wheel and a reference speed obtained using a speed of at least one of the two wheels of a second of said at least two axles of the vehicle:

• if the slipping is less than a first predetermined threshold, progressively applying the brake until the slipping becomes greater than this first threshold,
• if the slipping is greater than a second predetermined threshold, greater than the first threshold, progressively releasing the brake until the slipping becomes less than this second threshold,
• if the slipping is greater than the first threshold and less than the second threshold, maintaining application at its current level,
• the incremental braking method being provided by controlling the parking brake by increasing its application in stages of predetermined durations, the method being characterised in that, when the speeds of the two wheels of the second axle are not known but only one is known, the anti-lock braking mode is applied with, as reference speed, this known speed,
• corrected by a reducing operation, and when the speed of no wheel on the second axle is known, the incremental braking mode is applied.