Method and device for recognizing cornering and for stabilizing a vehicle in case of over-steered cornering

Method according to anyone of the preceding claims, characterised by that a left curve is detected if one or more of the following conditions are met:

• Shl−S0>=shr−S0,
• Svl−S0>0,
• Svr−S0=0,
• and that a right curve is detected if one or more of the following conditions are met at the same time:
• Shr−S0>=Shl−S0,
• Svr−S0>0,
• Svl−S0=0,
• Shl being the slip on the left rear wheel,
• Shr being the slip on the right rear wheel
• Svl being the slip on the left front wheel
• Svr being the slip on the right front wheel, and
• S0 being the slip correction value.

Method according to any one of the preceding claims, characterised by that a left curve is considered as completed, if at least one of the following conditions is met:

• Shl−S0<Shr−S0,
• Shl−S0>0,
• and that a right curve is considered as completed, if at least one of the following conditions is met:
• Shr−S0<Shl−S0,
• Shr−S0=0,
• Shl being the slip on the left rear wheel,
• Shr being the slip on the right rear wheel, and
• S0 being the slip correction value.

Method for detecting an over-steered cornering manoeuvre including the following steps

• determination of the wheel speeds of several wheels and
• determination of the slip of these wheels,
• characterised by
• detecting an over-steered cornering manoeuvre with reference to several of the determined slip values.

Method for detecting an over-steered cornering manoeuvre including the following steps

• determination of the wheel speed of several wheels,
• characterised by
• determination of the transverse acceleration for the front and the rear axle, and
• determination of an over-steered cornering with reference to the determined transverse accelerations.

Device according to any one of the preceding claims, characterised by that the first detection device (300) detects a left-hand curve, if one or more of the following conditions are met:

• Shl−S0>=Shr−S0,
• Svl−S0>0,
• Svr−S0=0,
• and a right-hand curve, if one or (more of the following conditions are met at the same time:
• Shr−S0>=Shl−S0,
• Svr−S0>0,
• Svl−S0=0
• Shl being the slip on the left rear wheel,
• Shr being the slip on the right rear wheel,
• Svl being the slip on the left front wheel,
• Svr being the slip on the right front wheel, and
• S0 being a slip correction value.

Device according to anyone of the precedent claims, characterised by that the first detection device (300) considers a left-hand curve as completed, if at least one of the following conditions is met:

• Shl−S0<Shr−S0;
• Shl−S0=0
• and considers a right-hand curve as completed, if at least one of the following conditions is met:
• Shr−S0<Shl−S0
• Shr−S0=0,
• Shl being the slip on the left rear wheel,
• Shr being the slip on the right rear wheel, and
• S0 being the slip correction value.

Device for detecting an over-steered cornering manoeuvre including

• a first detecting device (111-114) for detecting the wheel speeds of several wheels, and
• a second detecting device (302a-d) for detecting the slip of said wheels,
• characterised by
• a second detecting device (400) for detecting an over-steered cornering with reference to several of the determined slip values.