Deceleration controlled braking

1. A brake controller for controlling a brake system of a vehicle comprising

a brake input device,

a plurality of rotating wheels and a plurality of electrically operated brakes, each brake of the plurality of brakes corresponding to one wheel of the plurality of wheels and operative to provide a braking force thereto,

at least two rotating wheels in the plurality of rotating wheels configured so as to rotate at substantially the same angular velocity,

the brake controller comprising logic circuitry configured to:

receive data indicative of a deflection of the brake input device;

use the data indicative of the deflection of the brake input device to derive a target deceleration rate;

provide a braking command to each of the plurality of brakes, wherein the logic circuitry is further configured to vary the braking command for each brake to regulate a deceleration rate of the vehicle in accordance with the target deceleration rate,

receive data indicative of wheel deceleration,

use the data indicative of wheel deceleration to regulate the deceleration rate of the vehicle, and

share a brake load between the brakes of the at least two rotating wheels.

2. The brake controller according to claim 1 , wherein the logic circuitry is configured to regulate the deceleration rate without using force or pressure data indicative of a force or pressure applied by the brake.

3. The brake controller according to claim 1 , wherein each brake includes at least two brake actuators, and the logic circuitry is configured to share a braking load between the at least two brake actuators or between at least two brakes.

4. The brake controller according to claim 3 , wherein the logic circuitry configured to share the brake load includes logic circuitry configured to:

determine a braking effort performed by each brake or each brake actuator; and

adjust a bias setting corresponding to brakes or actuators that have a braking effort that is greater than braking efforts corresponding to other brakes or other brake actuators.

5. The brake controller according to claim 1 , wherein the logic circuitry is further configured to:

receive wheel speed data from a plurality of wheel speed sensors, each wheel speed sensor corresponding to one wheel of the plurality of wheels and operative to provide data indicative of wheel speed;

calculate a deceleration rate of each wheel from the corresponding wheel speed sensor; and

individually sum the calculated deceleration rate for each wheel with the target deceleration rate to obtain a deceleration rate error for each wheel.

6. The brake controller according to claim 1 , wherein each brake includes at least one brake actuator, and the logic circuitry is further configured to generate at least one open-loop brake actuator control signal for controlling a force applied by the at least one brake actuator.

7. A brake system comprising the brake controller according to claim 1 , wherein the brake input device is configured to provide a signal indicative of deflection of the brake input device.

8. A brake system comprising the brake controller according to claim 1 , wherein the at least two wheels comprise a first wheel and a second wheel having a first brake and second brake, respectively, and the brake controller configured to generate a first braking command corresponding to the first brake, and a second brake controller configured to generate a second braking command corresponding to the second brake, the first and second braking commands indicative of a braking force to be applied by the corresponding first and second brakes, wherein logic circuitry of the brake controller and the second brake controller is configured to receive brake data indicative of the braking force applied by the brake corresponding to the other of the brake controller and the second brake controller, and modify the brake command for the brake corresponding to one of the brake controller and the second brake controller based on the brake data corresponding to the other of the brake controller and the second brake controller.

9. A brake system comprising the brake controller according to claim 1 , comprising a plurality of wheel speed sensors, each wheel speed sensor corresponding to one wheel of the plurality of wheels and operative to provide data indicative of wheel speed.

10. A brake system comprising the brake controller according to claim 1 , wherein each brake includes at least two brake actuators, wherein the brake controller includes logic circuitry configured to share a brake load between the at least two brake actuators.

11. A method of controlling a brake system of a vehicle having a brake input device, a plurality of rotating wheels and a plurality of electrically operated brakes, each brake of the plurality of brakes corresponding to one wheel of the plurality of wheels, comprising:

receiving data indicative of a deflection of the brake input device;

using the data indicative of the deflection of the brake input device to derive a target deceleration rate;

providing a braking command to each of the plurality of brakes, wherein the braking command is varied for each brake to regulate a deceleration rate the vehicle in accordance with the target deceleration rate, wherein at least two wheels are configured so as to rotate at substantially the same angular velocity, and each wheel has a corresponding brake; and

sharing a brake load between brakes of the at least two wheels.

12. The method according to claim 11 , wherein the deceleration rate of each wheel is regulated without using force or pressure data indicative of a force or pressure applied by the brake.

13. The method according to claim 11 , wherein sharing includes: averaging a braking load applied by the at least two brakes; and

using the average braking load as the braking command for at least one of the at least two brakes.

14. The method according to claim 11 , wherein the at least two wheels comprise a first wheel having a first brake and a second wheel having a second brake, and a first controller controls the first brake and a second controller controls the second brake, wherein sharing comprises:

the first controller generating a first braking command corresponding to the first brake, the first braking command indicative of a braking force to be applied by the first brake;

the second controller generating a second braking command corresponding to the second brake, the second braking command indicative of a braking force to be applied by the second brake;

providing to one of the first controller or the second controller the braking command from the other of the first controller or the second controller; and

the receiving controller calculating, based on the first and second braking commands, a brake force correction value for at least one of the first controller or the second controller.

15. The method according to claim 11 , wherein the braking system further includes a plurality of wheel speed sensors, each wheel speed sensor corresponding to one wheel of the plurality of wheels and operative to provide data indicative of wheel speed, the method further comprising:

calculating a deceleration rate of each wheel from the corresponding wheel speed sensor; and

individually summing the calculated deceleration rate for each wheel with the target deceleration rate to obtain a deceleration rate error for each wheel.

16. The method according to claim 11 , wherein each brake of the plurality of brakes includes at least one actuator, further comprising providing an open-loop control signal to the at least one actuator to control a force applied by the at least one actuator.