CPC B60T 8/88 (2013.01) [B60T 8/171 (2013.01); B60T 8/1761 (2013.01); B60T 13/142 (2013.01); B60T 13/66 (2013.01); B60T 2250/04 (2013.01)] | 31 Claims |
1. An overrunable test vehicle including an electronically-controlled anti-slip braking system for reducing wheel slip during rapid deceleration, the overrunable test vehicle comprising:
a chassis;
a first axle and a second axle, with each of the first axle and the second axle rotatably supported by the chassis;
at least one wheel connected to each of the first axle and the second axle;
at least one electric motor operatively coupled with at least one of the first axle and the second axle;
a hydraulic braking system partially supported by the chassis and partially coupled to at least one of the first axle and the second axle;
a rotational speed sensor connected to at least one of the first axle and the second axle for determining a rotational speed of the connected axle;
a ground speed sensor supported by the chassis for determining a ground speed of the chassis; and
a controller operatively connected with the at least one electric motor, the hydraulic braking system, the rotational speed sensor, and the ground speed sensor, the controller configured to:
calculate a difference between the rotational speed of the at least one of the first axle and the second axle and the ground speed of the chassis to determine a slip threshold of the wheels;
actuate the hydraulic brake system to apply a first stopping force; and
control at least one motor parameter of the at least one electric motor to apply a second stopping force;
wherein the first and second stopping forces combined are less than the slip threshold of the wheels such that the chassis rapidly decelerates free of a wheel slip condition.
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