Yaw-compensated vehicle anti-skid system

Claim 1

Vehicular automatic anti-brake lock system (ABS) having wheel speed sensors (20) providing wheel speed signals; a left axle brake control system (22) receiving the wheel speed signals from at least one left wheel of the vehicle; a right axle brake control system (23) receiving the wheel speed signals from at least one right wheel of the vehicle; the brake control systems controlling admission and drainage, respectively, of pressurized brake fluid to a brake of a vehicle wheel on a respective side of the vehicle, in dependence on at least one of: vehicle speed, acceleration (+b), deceleration (-b), wheel slip; and means to limit yaw upon unsymmetrical frictional relationship between the at least one wheel on the left side of the vehicle and the at least one wheel on the right side of the vehicle, said means comprising a pair of brake control units (30, 31), one each for the brake of the at least one wheel on the left side of the vehicle and the brake of the at least one wheel on the right side of the vehicle, and being responsive, respectively, to signals controlling admission and drainage of pressurized brake fluid of the right side and left side, respectively, to thereby control the braking effort on one side of the vehicle (e.g. left side) as a function of the braking effort on the other (then: right side of the vehicle), and comprising, in accordance with the invention, an accelerometer (36') sensing centrifugal acceleration of the vehicle due to the vehicle passing through a curve; and control means (36, 35) coupled to the brake control units (30, 31) of the left and right sides of the vehicle, respectively, and inhibiting command of increased brake pressure as a function of centrifugal vehicle acceleration, as sensed by said accelerometer (36'), said control means (36, 35) being connected to and controlled by said accelerator (36').