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Integration of rear wheel steering with vehicle stability enhancement system

  • US 6,560,524 B2
  • Filed: 09/26/2001
  • Issued: 05/06/2003
  • Est. Priority Date: 09/26/2001
  • Status: Expired due to Term
First Claim
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1. A method for integrating a vehicle stability enhancement system and rear wheel steering, the method comprising the steps of:

  • a) inputting a vehicle speed;

    b) inputting a measured vehicle yaw rate;

    c) determining a front wheel steer angle;

    d) determining a rear wheel steer angle;

    e) calculating a desired yaw rate;

    f) comparing the measured yaw rate with the desired yaw rate to determine a yaw error term; and

    g) applying a braking force to a wheel of the vehicle to impart a yaw moment based upon the magnitude of the error term calculated wherein the rear wheel steering angle is taken into account in calculating the desired yaw rate.

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