YAW MOTION CONTROL OF A VEHICLE

摘要

A vehicle having two forwardly positioned steerable road wheels and first and second rearwardly positioned wheels disposed on opposing lateral sides of the vehicle has first and second independently controllable electric motors to apply driving and braking torque to respective rearwardly positioned wheels. An angle sensor indicates a steering angle of the steerable road-wheels, and a speed sensor indicates vehicle longitudinal speed. A yaw-rate sensor indicates the vehicle's measured yaw-rate. The vehicle has control means to determine a target yaw-rate from the steering angle of the steerable road wheels and the longitudinal velocity; determine a yaw rate error by comparing the vehicle's measured yaw-rate with said target yaw-rate, and determine an amount of yaw torque to correct or reduce the yaw-rate error; and control the electric motors to apply an amount of differential torque to the respective first and second rearwardly positioned wheels to generate said amount of yaw torque.