Method and apparatus for preventing vehicle handling instabilities

摘要

A method and apparatus for preventing vehicle handling instabilities, in which a vehicle yaw angular velocity required value ( mu soll) is formed from measured quantities (vehicle velocity, steering wheel angle). The vehicle yaw angular velocity actual value ( mu ist) is formed from at least one sensor signal, the difference between the yaw angular velocity required value ( mu soll) and the yaw angular velocity actual value ( mu ist) is determined by subtracting the yaw angular velocity actual value ( mu ist) from the yaw angular velocity required value ( mu soll), and the handling situation or the vehicle yaw behavior to be detected is determined from this difference. The time derivative of the difference is formed to determine whether the vehicle exhibits understeer or oversteer. The slip threshold value ( sigma soll) is varied in the direction of the value 0 when it is deduced from the detected handling situation that a changed lateral guidance force is required on the wheels of the vehicle driven axle.