| 摘要 |
A driver assist arrangement (1) is provided comprising a first yaw rate controller (7), a hazard evaluation unit (9) and a driver intention evaluation unit (13). The first yaw rate controller (7) is configured to control a yaw rate of the hosting vehicle (5), by comparing an expected yaw rate with an actual yaw rate and in response thereto selectively apply brakes of respective wheels of the host vehicle (5). The arrangement (1) further comprises a second yaw rate controller (15), configured to intervene in the control of the first yaw rate controller (7), in case the evaluated risk of an accident is above a threshold value and occurrence of an avoidance manoeuvre initiated by the driver (3) is detected. The present invention also relates to a vehicle (5) comprising a driver assist arrangement (1) and a method of assisting a driver (3) of a vehicle (5). |
