Method and device for yaw control of a vehicle

摘要

The invention relates to a yaw control method/device for a vehicle with a steering actuator and a direct yaw moment actuator (e.g. the brakes). According to one aspect of the invention, the steering actuator is used as long as it is sufficient for a stable tracking of a target yaw rate, and the direct yaw moment actuator is only used to assist said tracking and/or to prevent critical instabilities. In a particular embodiment, the controller results from the application of Feedback Linearization technique and activates the brakes either in understeer situations (oversteer brakes correction) or in oversteer instable situations (understeer brakes corrections).