YAW MOTION CONTROL OF A VEHICLE

摘要

A vehicle with at least two forwardly positioned steerable road wheels and at least first and second rearwardly positioned wheels disposed on opposing lateral sides of the vehicle is provided with first and second electric motors adapted to apply driving and braking torque to the respective rearwardly positioned wheels. The first and second electric motors are independently controllable. At least one angle sensor is configured to provide an output indicative of a steering angle of the steerable road-wheels. At least one speed sensor configured to provide an output indicative of the vehicle longitudinal speed. A vehicle yaw-rate sensor is configured to provide an output indicating the vehicle's measured yaw-rate. The vehicle has control means adapted to determine a target yaw-rate from at least the steering angle of the steerable road wheels and the vehicle longitudinal velocity; determine a yaw rate error by comparing at least the vehicle's measured yaw-rate with said target yaw-rate, and determine an amount of yaw torque needed to correct or reduce the yaw-rate error; and control the first and second electric motors to apply an amount of differential torque to the respective first and second rearwardly positioned wheels so as to generate said amount of yaw torque.