| 摘要 |
PCT No. PCT/EP97/00287 Sec. 371 Date Nov. 25, 1998 Sec. 102(e) Date Nov. 25, 1998 PCT Filed Jan. 22, 1997 PCT Pub. No. WO97/28037 PCT Pub. Date Aug. 7, 1997A method of ensuring stability and good quality of yaw torque control even in the case of road surface transversal inclination and/or a rolling motion of the vehicle requires a transversal inclination identification. This is done by calculating the transversal inclination angle alpha q, When a transversal inclination is identified, the calculating device of the vehicle can be set to counteract the transversal inclination vigorously. Calculation of the transversal inclination angle alpha q is based on a coordinate transformation. The value aqm measured by the transverse accelerometer fixed to the vehicle is related to a value aq of the ground-related transverse acceleration calculated from other sensor signals pursuant the equation aqm=aq cos alpha q-g sin alpha q. The solution of this equation provides the transversal inclination angle alpha q. |
