Active drive assist method for motor vehicle in case of a split-mu braking

摘要

On vehicle fitted with electric steering assistance and an anti-blocking system data such as wheel speeds and braking pressures are collected and filtered (e1). Yawing moment is estimated (e2) and the steering wheel correction angle is calculated (e3). Target steering wheel torque (e4) to correct it to the correction angle is also calculated and the actual torque exerted is directed (e5) towards it by using the electrical steering assistance.