Method for controlling motor vehicle stability

A method for controlling vehicle stability during curve travel, comprising the steps of:

• determining a steering angle .delta., a rate of yaw .omega., a vehicle speed v.sub.F, and a vehicle acceleration a;
• determining a setpoint rate of yaw .omega..sub.setpoint as a function of the steering angle .delta. and the vehicle speed v.sub.F, such that if the steering angle .delta. falls within a lower range, the setpoint rate of yaw .omega..sub.setpoint rises linearly with the steering angle .delta., and if the steering angle .delta. falls within an upper range, the setpoint rate of yaw .omega..sub.setpoint is constant, the lower and upper ranges being separated by a transition region;
• comparing the determined rate of yaw .omega. to a profile of the setpoint rate of yaw .omega..sub.setpoint to determine a deviation .DELTA..omega.;
• wherein the setpoint rate of yaw .omega..sub.setpoint is determined in accordance with the relation
• .omega..sub.setpoint =x .omega..sub.setpoint.sup.0 +(1-x) .omega..sub.setpoint.sup.1
• wherein .omega..sub.setpoint.sup.0 is determined by the relation ##EQU2## wherein L represents a vehicle wheelbase and VCH represents a characteristic speed of the vehicle, wherein .omega..sub.setpoint.sup.1 is determined by the relation
• .omega..sub.setpoint.sup.1 =aq'/v.sub.F
• wherein a second transversal acceleration aq' of the vehicle is as follows:
• aq'=aq.sub.min for aq>0 and aq<aq.sub.min
• aq'=aq.sub.min for aq<0 and aq>-aq.sub.min
• aq'=aq otherwise
• wherein aq represents a first transversal acceleration of the vehicle and aq.sub.min represents a lowest value for aq on public streets during cornering travel of the vehicle in an extreme vehicle operating range, wherein x is determined by the relation
• x=(.omega..sub.setpoint.sup.1 /.omega..sub.setpoint.sup.0 -k).sup.n /(1-k).sup.n
• wherein k is a first constant between 0 and 1, n is a second constant greater than 0, and x is limited to values between and including 0 and 1;
• and controlling the stability of a vehicle during said curve travel based upon the determined deviation .DELTA..omega..