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Brake system control method employing yaw rate and ship angle control

  • US 6,035,251 A
  • Filed: 11/10/1997
  • Issued: 03/07/2000
  • Est. Priority Date: 11/10/1997
  • Status: Expired due to Fees
First Claim
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1. A brake system control for use in a vehicle with a body, comprising the steps of:

  • determining a first error between an actual yaw rate of the vehicle and a desired yaw rate of the vehicle;

    determining a second error between an estimated slip angle of the vehicle and a desired slip angle of the vehicle;

    determining a yaw rate command responsive to the first error;

    determining a slip angle command responsive to the second error;

    summing the yaw rate command and the slip angle command to determine a summed command including the yaw rate and slip angle commands; and

    applying the summed command to at least one vehicle brake actuator to impart a yaw moment on the vehicle body, wherein the yaw rate command reduces the first error and the slip angle command reduces the second error.

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