| 摘要 |
A yaw limit estimation method in an ESP is provided to determine a yaw limit in a control mode at a high road surface frictional coefficient if a vehicle travels on a road surface having a low road surface frictional coefficient. A yaw limit estimation method in an ESP includes the steps of: calculating the yaw limit from information of a yaw rate sensor and a yaw sensor; calculating the amounts of a brake and an engine torque according to the yaw value(S22); controlling the brake and the engine torque; calculating the road surface frictional coefficient in an ESP control section(S23); estimating the limit value of the yaw value if the road surface frictional coefficient is determined to be low(S25); and controlling the ESP according to a mode in which the road surface frictional coefficient is set with a limit value. |
