Adaptive steering control using vehicle slip angle and steering rate

摘要

A method and apparatus are provided for improving vehicle steering in unfamiliar safety critical situations by controlling power steering assist in response to the slip angle of the vehicle and the steering rate of the vehicle. When a vehicle is in a slide or a slide is imminent, the steering wheel should be turned in the direction of the slide to stabilize the vehicle and take the vehicle out of the slide or possibility of a slide. Accordingly, a positive supplemental steering assist is provided for the steering system if the driver is turning the steering wheel in the direction to correct the slide. If, on the other hand, the driver is turning the steering wheel in the direction which will increase the slide, a negative supplemental assist is provided for the steering system. That is, a feedback is provided to the driver in the form of increased steering assist if the steering wheel is being turned in the proper direction and a decreased steering assist if the steering wheel is being turned in the improper direction. In this way, the driver of a motor vehicle is advised of the proper steering action to take in the event of an actual or imminent vehicle slide by the resistance the driver feels in turning the steering wheel.