ABSTRACT
Control systems described in Figures 8 and 9 are but two of many possible control methods. The system implied in Figure 8 may be improved by an ECU that remembers all of the road conditions shown in Figure 2 and compares all wheel velocities and accelerations to select the appropriate curve. For example, if all wheels decelerate quickly so that the negative angular acceleration falls below-α2 for all wheels, the ECU may assume the vehicle is on glare (black) ice, curve 6.
