Brake system control

摘要

A brake system control for use in a vehicle with a body, comprising the steps of: determining a first error between an actual yaw rate of the vehicle and a desired yaw rate of the vehicle (134); determining a second error between an estimated slip angle of the vehicle and a desired slip angle of the vehicle (135); determining a yaw rate command responsive to the first error (138); determining a slip angle command responsive to the second error (142); summing the yaw rate command and the slip angle command (146); and applying the yaw rate command and the slip angle command to at least one vehicle brake actuator to impart a yaw moment on the vehicle body, wherein the yaw rate command reduces the first error and the slip angle command reduces the second error (154, 132). <IMAGE>