| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for determining a yaw tendency of a vehicle and a method and a device for controlling a yaw moment of the vehicle using the determined yaw tendency.SOLUTION: A method 200 for determining a yaw tendency of a vehicle includes: a step 202 for determining at least one propulsion state as for one vehicle or some wheels; and a step for determining a yaw tendency by estimating a yaw moment change of the vehicle generated from a change in the propulsion state between at least two wheels of the wheels of the vehicle from at least one propulsion state 210. The propulsion state is a scale for showing a longitudinal direction tire slip of the wheel, and the scale is selected from a group consisted of torque, force, slip, friction use or differential speed 204. The yaw moment change is generated from a change in torque distribution or slip distribution between a front axle and a rear axle of the vehicle. The yaw moment change is generated from a change in torque distribution or slip distribution between the front axle and the rear axle of the vehicle.SELECTED DRAWING: Figure 4 |
