DRIVE STABILISATION METHOD, DRIVE STABILISATION DEVICE AND RELATED VEHICLE

摘要

The invention relates to a drive stabilisation method 24, 24', a drive stabilisation device 1 and a related vehicle 2, which is particularly a commercial vehicle. For the stabilisation 56, 92 of the vehicle 2, a steering angle ßVA, ßZA of at least one steered front axle VA and/or additional axle ZA of the vehicle 2 is changed 40, 42, 84 by automatic forced steering of this axle VA, ZA. Additional drive stabilisation is achieved with a feature a) and additionally or alternatively with a feature b). According to feature a), in response to a tilting tendency of vehicle 2 recognised by means of a tilt-stability control device 6 as being above a tilt limit value GKipp in addition to the initiation of a vehicle delay 38 for the reduction of this tilting tendency, an adjustment 48, 50 of a changed steering angle ßVA, ßZA of the steered front axle VA and or additional axle ZA is initiated in order to counteract 54 an understeering or oversteering influence 52 of this vehicle delay 38 on the vehicle 2. According to feature b) the direction of movement BZA in the wheel contact point CZA of an additional axle wheel RZA arranged on the steered additional axle ZA is determined 68 relative to the vehicle longitudinal axis 4 and the steering angle ßZA of the steered additional axle ZA is adjusted 86 depending on this respectively determined direction of movement BZA in order to reduce the drift angle aZA of the additional axle wheel RZA relative to its direction of movement BZA.