Yaw rate control with simultaneous maximum deceleration
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Abstract
A method for stabilizing a vehicle in a transverse direction, in which: for a first braking force distribution in which each vehicle wheel is braked using the maximum braking force transmittable to the road surface in the current driving situation, the yawing moment acting on the vehicle is ascertained; for at least a second braking force distribution that differs from the first braking force distribution in that at least one wheel is not braked using the maximum braking force, the yawing moment acting on the vehicle is ascertained; a setpoint yawing moment is ascertained; and from at least the first and second braking force distributions, the braking force distribution whose associated yawing moment comes closest to the setpoint yawing moment is set at the vehicle.
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Citations
22 Claims
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1-11. -11. (canceled)
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12. A method for stabilizing a vehicle in a transverse direction, comprising:
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ascertaining a yawing moment acting on the vehicle for a first braking force distribution in which each vehicle wheel (RR, RL, FR, FL) is braked using the maximum braking force (F_max,i) transmittable to the road surface in the current driving situation; ascertaining a yawing moment acting on the vehicle for at least a second braking force distribution that differs from the first braking force distribution in that at least one wheel is not braked using the maximum braking force (F_max,i); ascertaining a setpoint yawing moment (Mz_set); and from at least the first and second braking force distributions, the braking force distribution whose associated yawing moment (Mz) comes closest to the setpoint yawing moment (Mz_set) is set at the vehicle. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification