Method for stabilizing vehicle, involves determination of yawing moment on vehicle whereby driving road performance of vehicle is controlled depending on deviation between reference yaw rate and actual yaw rate

摘要

Method involves determination of yawing moment caused by the different strengths of braking and driving forces acting on the vehicle. The method also involves calculation of a reference yaw rate (psi ref) for the vehicle according to a preset lock angle of wheel of a controllable wheel of the vehicle and calculation of the measured or estimated vehicle speed (v) of a vehicle model having the determined yawing moment. The reference yaw rate is compared with a determined actual yaw rate of the vehicle. The method involves controlling the driving road performance of the vehicle depending on a deviation between the reference yaw rate and the actual yaw rate. Independent claims are also included for the following: (1) Computer program product; and (2) Driving dynamics control system.