| 主权项 |
1. A vehicle yaw stability control method comprising:
measuring a yaw rate {dot over (ψ)} of the vehicle; setting a first reference yaw rate {dot over (ψ)}ref; setting a difference yaw rate: Δ{dot over (ψ)}, the difference yaw rate comprising the difference between the first reference yaw rate and the measured yaw rate; triggering stabilizing braking intervention when a value of the difference yaw rate: Δ{dot over (ψ)} exceeds limits defined by difference yaw rate threshold values Δ{dot over (ψ)}min, Δ{dot over (ψ)}max acquiring road shape information regarding shape of the road ahead of the vehicle; when stabilizing braking intervention is triggered, evaluating reliability of a driver steering input δ; and when the driver steering input δ is evaluated as unreliable
setting a replacement reference yaw rate {dot over (ψ)}refroad based on the acquired road shape information,setting a replacement difference yaw rate Δ{dot over (ψ)}road, andperforming further stabilizing braking intervention based on the replacement difference yaw rate Δ{dot over (ψ)}road; wherein the reliability of the driver steering input δ is evaluated through forming a difference reference yaw rate Δ{dot over (ψ)}ref as a difference between the replacement reference yaw rate {dot over (ψ)}refroad and the first reference yaw rate {dot over (ψ)}ref where the driver steering input δ is deemed reliable as long as the value of the difference reference yaw rate Δ{dot over (ψ)}ref remains within a deadband the limits of which are defined by difference reference yaw rate threshold values Δ{dot over (ψ)}refmin, Δ{dot over (ψ)}refmax. |
