METHOD TO CONTROL, WHILE DRIVING ALONG A CURVE, A ROAD VEHICLE WITH A VARIABLE STIFFNESS AND WITH REAR STEERING WHEELS

摘要

A method to control, while driving along a curve, a road vehicle (1) with a variable stiffness and with rear steering wheels (3). The method comprises the steps of: determining an actual attitude angle (β) of the road vehicle (1); establishing a desired attitude angle (β_TGT); determining an actual yaw rate (dψ/dt) of the road vehicle (1); establishing a desired yaw rate (dψ/dt_TGT) ; and changing, in a simultaneous and coordinated manner, the steering angle (α) of the rear wheels (3) and the distribution of the stiffness of the connection of the four wheels (2, 3) to the frame (12) depending on a difference (ε_β) between the actual attitude angle (β) and the desired attitude angle (β_TGT) and depending on a difference (ε_ψ) between the actual yaw rate (dψ/dt) and the desired yaw rate (dψ/dt_TGT).