Vehicle movement control method - using brakes to maintain stability depending on difference between wanted and measured yaw

摘要

The arrangement has a sensor (2) responding to de-stabilising forces at the vehicle and measuring the instantaneous yaw of the vehicle. A device (4) decides the wanted yaw of the vehicle and produces an output signal in response to a comparison between wanted and actual yaw. A brake control (48,50) responds to this output signal so as to keep the vehicle stable. The device (4) comprises two detectors (6,12) - one determining steering angle and the other determining vehicle speed. The speed detector includes subdetectors for each of the vehicle's wheels. The sensor includes a gyroscope or G-sensors.