| 摘要 |
The method involves determining a yaw rate (6), and comparing the yaw rate with a threshold value (9). A drift value is estimated. An initial drift value (43) is determined, where the initial value corresponds to a real drift (42) at an instant (44) in which real yaw exceeds the threshold. The estimated drift value is compared with the initial value. A braking action corresponding to increase of pressure (29) in a braking system is carried out based on the yaw rate and the drift value. The action is maintained only based on the drift, when the real yaw rate reduces below the threshold value. |
