Vehicle control system

The invention provides a vehicle control system. A vehicle includes a wheel, a brake, and a controller. The wheels are configured to propel the vehicle. The brake is configured to generate a braking torque at the wheel. The controller is programmed to, in response to (i) a commanded braking torque and (ii) a relative jump between two of the wheels exceeding a threshold, operate the brake to increase the braking torque to less than the commanded braking torque. The controller is further programmed to, in response to (i) the commanded braking torque and (ii) a droop of at least one of the wheels exceeding a threshold, operate the brake to increase the braking torque to less than the commanded braking torque. 本公开提供了"车辆控制系统"。一种车辆包括车轮、制动器和控制器。所述车轮被配置为推进所述车辆。所述制动器被配置为在所述车轮处产生制动扭矩。所述控制器被编程为响应于(i)命令的制动扭矩和(ii)所述车轮中的两个之间的相对上跳超过阈值，将所述制动器操作为将所述制动扭矩增加到小于所述命令的制动扭矩。所述控制器还被编程为响应于(i)所述命令的制动扭矩和(ii)所述车轮中的至少一个的下垂超过阈值，将所述制动器操作为将所述制动扭矩增加到小于所述命令的制动扭矩。