Regulating braking forces at individual operable motor vehicle braking systems

摘要

A desired yawing angle speed is determined, depending on the speed of the vehicle and the steering angle set by the driver. This is compared with the actual yawing angle speed. Based on the resulting deviation of these values, an auxiliary yawing moment in computed, which is realized by an individual control of the braking systems.A correction of the desired yawing angle speed computed in the reference model results, based on the determined float angle speed (beta). The corrected desired yawing speed is applied based on the further computation. The computed auxiliary yawing moment is corrected based on the determined float angle speed.