| 摘要 |
A control module 12 comprises a friction estimator 18 that computes from information provided by on-board sensors an estimated value of the friction between a vehicle's tyres and the ground over which the vehicle is travelling. The friction estimator 18 has an output which is connected to an input of a target yaw rate generator 19 and from information supplied by a vehicle speed sensor (13, fig 1), steering angle sensor (17) and friction estimator 18, the target yaw rate generator computes a target (desired) yaw rate. A feedback controller 20 compares an actual vehicle yaw rate, measured by a yaw rate sensor (15), with the target yaw rate. The feedback controller 20, on comparing the two yaw rate values on its inputs detects if an oversteer condition exists. If this is the case an error signal is generated by the feedback controller 20 and this signal is applied to an electric motor (11) which controls a clutch (10) in an active limited slip differential (9) in order to control the yaw stability of the vehicle. In another embodiment the control module 12 includes a feedforward controller (26, fig 3) and a summer (25).
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