BRAKING FORCE CONTROL METHOD AND BRAKING FORCE CONTROL DEVICE Russian patent published in 2019 - IPC B60T7/12 

FIELD: machine building.

SUBSTANCE: braking force control method determines vehicle wheel speed (w) (1), generates retarding braking force for supporting stopped state of vehicle (1) regardless of whether brake (3) is pressed by vehicle driver (1), when it is determined that vehicle (1) is stopped, based on wheel speed (w) determined in a state in which braking force is applied to vehicle (1), and delays period in which retaining braking force is formed in accordance with friction coefficient of road surface in vehicle movement path (1).

EFFECT: method prevents maintenance of braking force to maintain stopped state of vehicle before it is decelerated sufficiently on road surface with low friction coefficient.

8 cl, 11 dwg