System for applying a yawing control moment by setting brake valve opening and closing times

A control system for controlling driving stability of a vehicle which has a steering angle and a plurality of brakes to which respective braking pressures are applied, each brake having valve means for adjusting the brake pressure applied to the brake, individually, comprising:

• means for determining the steering angle;
• yawing moment control means, responsive to the steering angle, for determining a yawing moment that is applied to the vehicle to prevent one of the group consisting of an undesirable yaw angle, yaw rate and yaw acceleration;
• distribution logic means responsive to the yawing moment control means for determining pressure adjustments that are required for each brake, individually, to apply the yawing moment to the vehicle, said pressure adjustments being determined independently of whether an actual brake pressure is measured;
• first valve switch timing means, responsive to the pressure adjustments determined by the distribution logic means, for calculating first valve switching times which are usable to open and close the valve means of each brake, individually, so as to perform the required pressure adjustments;
• second valve switch timing means for applying criteria other than yaw moment control criteria to determine second valve switching times which are usable to open and close the valve means of each brake, individually, so as to perform further pressure adjustments;
• and
• prioritizing means for determining actual valve switching times that are used to open and close the valve means of each brake based on the first and second valve switching times.