Method for controlling the lateral pulling of a motor vehicle during braking

A method for controlling lateral pulling of a moving motor vehicle during braking of said motor vehicle, said motor vehicle comprising at least one wheelset;

• said wheelset comprising a left wheel and a right wheel;
• the left wheel and the right wheel each defining an angular speed and an angular acceleration;
• the left wheel and the right wheel each cooperating with a braking means such that said braking means applies a drag force to the associated wheel so as to reduce the angular speed of said associated wheel;
• the method comprising:
• a) calculating a value representative of a difference between the angular accelerations of the left and right wheels of the wheelset;
• b) calculating a correction value as a function of at least said value representative of the difference between the angular accelerations of the left and right wheels of the wheelset;
• and
• c) controlling for the left wheel and the right wheel the associated braking means so as to modify the drag force applied by the associated braking means as a function of the correction value calculated in step b), such that the drag force applied to a first wheel selected from the left wheel and right wheel of the wheelset is increased, and the drag force applied to a second wheel different from the first wheel is reduced, in order to reduce said value representative of the difference between the angular accelerations of the left and right wheels of said wheelset.

A device for controlling the lateral pulling of a moving motor vehicle during braking of said motor vehicle, said motor vehicle comprising at least one wheelset;

• said wheelset comprising a left wheel and a right wheel;
• the left wheel and the right wheel each defining an angular speed and an angular acceleration;
• the left wheel and the right wheel each cooperating with a braking means such that said braking means applies a drag force to the associated wheel so as to reduce the angular speed of said associated wheel;
• the device comprising:
• calculating means for calculating a value representative of the difference between the angular accelerations of the left and right wheels of the wheelset, the calculating means also being able to calculate a correction value as a function of at least said value representative of the difference between the angular accelerations of the left and right wheels of the wheelset;
• and
• control means for controlling, for the left wheel and the right wheel, the associated braking means so as to modify the drag force applied by said associated braking means as a function of the correction value calculated by the calculating means, such that the drag force applied to a first wheel selected from the left wheel and right wheel of the wheelset is increased, and the drag force applied to a second wheel different from the first wheel is reduced, in order to reduce said value representative of the difference between the angular accelerations of the left and right wheels of said wheelset.