Method for controlling motor vehicle stability

Claim 1

A method for controlling vehicle stability during curve travel, comprising the steps of: determining a steering angle δ, a rate of yaw ω, a vehicle speed v F , and a vehicle acceleration a; determining a setpoint rate of yaw ω setpoint as a function of the steering angle δ and the vehicle speed v F , such that if the steering angle δ falls within a lower range, the setpoint rate of yaw ω setpoint rises linearly with the steering angle δ, and if the steering angle δ falls within an upper range, the setpoint rate of yaw ω setpoint is constant, the lower and upper ranges being separated by a transition region; comparing the determined rate of yaw ω to a profile of the setpoint rate of yaw ω setpoint to determine a deviation Δω; wherein the setpoint rate of yaw ω setpoint is determined in accordance with the relation ω.sub.setpoint =x ω.sub.setpoint.sup.0 +(1-x) ω.sub.setpoint.sup.1 wherein ω setpoint 0 is determined by the relation ##EQU2## wherein L represents a vehicle wheelbase and VCH represents a characteristic speed of the vehicle, wherein ω setpoint 1 is determined by the relation ω.sub.setpoint.sup.1 =aq'/v.sub.F wherein a second transversal acceleration aq' of the vehicle is as follows: aq'=aq.sub.min for aq>0 and aq<aq.sub.min aq'=aq.sub.min for aq<0 and aq>-aq.sub.min aq'=aq otherwise wherein aq represents a first transversal acceleration of the vehicle and aq min represents a lowest value for aq on public streets during cornering travel of the vehicle in an extreme vehicle operating range, wherein x is determined by the relation x=(ω.sub.setpoint.sup.1 /ω.sub.setpoint.sup.0 -k).sup.n /(1-k).sup.n wherein k is a first constant between 0 and 1, n is a second constant greater than 0, and x is limited to values between and including 0 and 1; and controlling the stability of a vehicle during said curve travel based upon the determined deviation Δω.

Claim 2

A method for controlling vehicle stability during curve travel, comprising the steps of: determining a steering angle δ, a rate of yaw ω, a vehicle speed v F , and a vehicle acceleration a; determining a setpoint rate of yaw ω setpoint as a function of the steering angle δ and the vehicle speed v F , such that if the steering angle δ falls within a lower range, the setpoint rate of yaw ω setpoint rises linearly with the steering angle δ, and if the steering angle δ falls within an upper range, the setpoint rate of yaw ω setpoint is constant, the lower and upper ranges being separated by a transition region; comparing the determined rate of yaw ω to a profile of the setpoint rate of yaw ω setpoint to determine a deviation Δω; wherein the setpoint rate of yaw ω setpoint is determined in accordance with the relation ω.sub.setpoint =x ω.sub.setpoint.sup.0 +(1-x) ω.sub.setpoint.sup.1 wherein ω setpoint 0 is determined by the relation ##EQU2## wherein L represents a vehicle wheelbase and VCH represents a characteristic speed of the vehicle, wherein ω setpoint 1 is determined by the relation ω.sub.setpoint.sup.1 =aq'/v.sub.F wherein a second transversal acceleration aq' of the vehicle is as follows: aq'=aq.sub.min for aq>0 and aq<aq.sub.min aq'=aq.sub.min for aq<0 and aq>-aq.sub.min aq'=aq otherwise wherein aq represents a first transversal acceleration of the vehicle and aq min represents a lowest value for aq on public streets during cornering travel of the vehicle in an extreme vehicle operating range, wherein x is determined by the relation x=(ω.sub.setpoint.sup.1 /ω.sub.setpoint.sup.0 -k).sup.n /(1-k).sup.n wherein k is a first constant between 0 and 1, n is a second constant greater than 0, and x is limited to values between and including 0 and 1; and controlling the stability of a vehicle during said curve travel based upon the determined deviation Δω.