Braking force of multi-axle wheeled driving vehicle is different from that of traditional two-axle vehicle, as a result that the wheel lock sequence of the multi-axle vehicle should also be different from two-axle vehicle. The lock sequence of multi-axle vehicle bearing side-force was studied based on the running condition of braking and slipping. Finally the braking strategy and performance considering the tire nonlinearity is proposed in this paper. Results report that the developed strategy could ensure the braking and stability performance of multi-axle wheeled driving vehicle and improve the vehicle safety.
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