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Control of vehicle side slip using yaw rate

  • US 5,480,219 A
  • Filed: 08/18/1994
  • Issued: 01/02/1996
  • Est. Priority Date: 12/23/1992
  • Status: Expired due to Term
First Claim
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1. Method for controlling stability of a vehicle exhibiting a steering angle δ

  • , a yaw rate ω

    , a vehicle velocity vF, a throttle butterfly position, and a master cylinder pressure Pvor, said method comprisingdetermining the steering angle δ

    , the yaw rate ω

    , and the vehicle velocity vF,determining a steady-state required yaw rate ω

    so110 according to ##EQU7## where k is a constant, L is the wheel base, and vch is a vehicle characteristic velocity,determining at least one of throttle butterfly position α

    DK and master cylinder pressure Pvor,determining a desired longitudinal force FL,W as a function of at least one of α

    DK and Pvor,determining a desired side force according to FS,W =mvF ω

    so110 where m is the vehicle mass,determining the total force desired by the driver according to
    
    
    space="preserve" listing-type="equation">F.sub.ges,W =√

    F.sub.S,W.sup.2 +F.sub.L,W.sup.2,determining the total available force Fges between tires and road,determining a factor x=Fges /Fges,W, where x≦

    1,determining a required yaw rate ω

    so11 according to ω

    so11 =xω

    so110, andvarying brake pressure at the wheels so that ω



    so11.

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