Controller and Method for Detecting Vehicle Pull

A controller for determining vehicle pull of a vehicle comprising:

• a yaw rate input for receiving a yaw rate signal;
• a stability input for receiving a stability signal from a vehicle sensor,
• a deceleration input for receiving a deceleration signal;
• a brake control output for transmitting a brake control signal in response to the deceleration signal;
• and
• means for determining a vehicle pull is occurring during the transmission of the brake control signal, wherein the vehicle pull determination is based on the stability signal and the yaw rate signal.

A controller for a vehicle braking system of a vehicle comprising:

• a yaw rate input that receives a yaw rate signal indicative of a yaw rate of the vehicle;
• a stability input that receives a stability signal from a sensor of the vehicle;
• a deceleration input that receives a deceleration signal indicative of an automated deceleration request;
• a brake output that transmits a brake control signal;
• and
• control logic, wherein the control logic:
• receives a deceleration signal;
• initiates automated braking in response to the deceleration signal;
• determines a reference yaw rate of the vehicle based on the stability signal;
• and
• determines a vehicle pull is occurring during automated braking based on the reference yaw rate and the yaw rate signal.

A method for detecting vehicle pull during automated braking of a vehicle comprising:

• receiving a deceleration signal;
• initiating automated braking in response to the deceleration signal;
• receiving a signal indicative of a yaw rate of the vehicle;
• receiving a stability signal from a sensor of the vehicle;
• determining a reference yaw rate of the vehicle based on the stability signal;
• determining a vehicle pull is occurring during automated braking based on the reference yaw rate and the yaw rate signal.