Vehicle movement dynamics control system

Claim 1

Method for stabilizing movement of a vehicle, said method comprising the following steps: measuring wheel speeds v Ri , yaw velocity w, front axle steering angle δ v , and optionally at least one of longitudinal vehicle acceleration B x and traverse vehicle acceleration B y , forming a longitudinal vehicle velocity V x from said wheel speeds V Ri , forming a desired yaw velocity w s from at least said front axle steering angle δ v , determining a utilized coefficient of friction μ A from at least one of said wheel speeds V Ri and said longitudinal vehicle acceleration B x , estimating a sideslip angle β from at least one of said wheel speeds V Ri and said transverse acceleration B y , determining whether said sideslip angle β exhibits a positive gradient or a negative gradient, determining a first sideslip angle limit value β g1 from said utilized coefficient of friction β A and said longitudinal vehicle velocity V x , determining a second sideslip angle limit value β 2 from said first sideslip angle limit value β g1 , said limit value β g2 being greater than said limit value β g1 , comparing said estimated sideslip angle β with said first limit value β g1 , effecting a normal control mode when β is less than β g1 or when β is greater than β g1 but less than B g2 and said gradient is negative, varying brake pressure so that w approaches w s when said normal control mode is effected, effecting a special control mode when β is greater than β g1 and said gradient is positive or when β is greater than β g2 , and varying brake pressure so that β is limited to β g1 when said special control mode is effected.