Yaw disturbance rejecting method for vehicle, involves estimating yaw disturbance of vehicle, and rejecting estimated disturbance based on vehicle speed by making disturbance to be non-observable with respect to yaw speed of vehicle

摘要

The method involves estimating yaw disturbance (6) of a vehicle based on parameters e.g. vehicle speed, based on a regulation parameter varying based on the vehicle speed. The estimated disturbance is rejected based on a vehicle speed (3) by making the disturbance to be non-observable with respect to a yaw speed (5) of the vehicle by acting on a driven braking system, where the rejection is performed based on a command acting on rear wheel angle of the vehicle. The parameters are measured, and a maximum lateral acceleration (4) of the vehicle and/or a yaw moment due to braking are estimated. An independent claim is also included for a system for rejection of a yaw disturbance of a vehicle.