| CPC B60L 7/26 (2013.01) [B60L 2240/429 (2013.01); B60L 2240/545 (2013.01); B60L 2240/549 (2013.01); B60L 2250/26 (2013.01)] | 16 Claims |
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1. A vehicle comprising:
a chassis;
a plurality of wheels mounted to the chassis;
a battery mounted to the chassis;
one or more drive units, each drive unit configured to:
drive one or more of the plurality of wheels using drive current supplied by the battery; and
perform regenerative braking for the one or more of the plurality of wheels to generate regenerative current supplied to the battery;
a friction braking system coupled to the plurality of wheels; and
a controller coupled to one or more drive units and to the friction braking system, the controller configured to:
operating in a first mode by performing the regenerative braking with the one or more drive units while supplementing the regenerative braking with friction braking by the friction braking system in response to a decrease in a currently available capacity of the battery to receive the regenerative current such that a combination of an amount of the friction braking and the regenerative braking is substantially equal to regenerative braking when the battery is at a reference capacity; and
in response to detecting slip of a wheel included in the plurality of wheels:
overriding the first mode by controlling braking of the friction braking system without regard to a difference between the currently available capacity of the battery to receive the regenerative current and the reference capacity of the battery to receive the regenerative current;
determining a target amount of wheel slip for the wheel; and
performing the friction braking to achieve the target amount of wheel slip.
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