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Method and arrangement for vehicle stabilization

  • US 9,573,589 B2
  • Filed: 10/31/2011
  • Issued: 02/21/2017
  • Est. Priority Date: 10/31/2011
  • Status: Active Grant
First Claim
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1. An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, where the at least one towed vehicle comprises at least one actively steered axle and/or an individually controlled wheel brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a yaw rate determining means for determining yaw rate of the towing vehicle and the at least one towed vehicle, the yaw rate determining means being a yaw sensor, where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the yaw rate of the towing vehicle and the yaw rate of the at least one towed vehicle, the arrangement is adapted to stabilize the at least one towed vehicle by using the determined yaw rate of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a reference yaw rate for the at least one towed vehicle, and to control the steered axle and/or the individually controlled brake of the at least one towed vehicle such that the determined yaw rate of the at least one towed vehicle corresponds to the reference yaw rate of the at least one towed vehicle.

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