| 摘要 |
To support the driver of a road vehicle, a yaw velocity r (in radian/s) around a vertical axis is measured, a driving speed vx (in m/s) is determined, an acceleration ax (in m/s2) in the driving direction is measured, a lateral acceleration is measured at two randomly selected locations at a distance of la as ay1 (in m/s2, front) and ay2 (m/s2, rear), a steering wheel angle delta H is measured at the vehicle steering column with a potentiometer, a vehicle wheel angle delta L= delta H/iL commanded by the driver is computed, a variable angle beta F at the front axis is computed, and these measured parameters are used to calculate, in a microprocessor, according to the equations (4, 20 and 21), an additional steering angle delta C, whose addition to the vehicle wheel angle delta L commanded by the driver results in the overall wheel angle delta F= delta L+ delta C.
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