{
  "$type": "site.standard.document",
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  "description": "A system and method for brake actuator control considering road geometry are described. In one implementation, the system and method constantly monitor the proper acceleration of the vehicle (i.e., without the effect of gravity), the maximum friction between all the tires and the road (road…",
  "path": "/patents/1379292",
  "publishedAt": "2026-03-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/12",
    "THE REGENTS OF THE UNIVERSITY OF CALIFORNIA"
  ],
  "textContent": "A system and method for brake actuator control considering road geometry are described. In one implementation, the system and method constantly monitor the proper acceleration of the vehicle (i.e., without the effect of gravity), the maximum friction between all the tires and the road (road adherence), and the speeds and angles of the wheels. The proper acceleration is then used to determine the forces and moments being exerted at each wheel contact to the ground, and may use compensation from calibration memory to adapt for the unique dynamic loading characteristics of the vehicle (e.g., weight and how weight shifts in the suspension during acceleration). These resultant forces and moments are subtracted from the maximum forces and moments that can be exerted as determined by the road adherence, and converted into a measure of the maximum available braking and traction force taking into account the wheel speeds and angles.",
  "title": "METHOD AND APPARATUS FOR PREDICTIVE BRAKING ON A NONPLANAR ROAD"
}