Feed-forward active brake control

A vehicle active brake control having sensors for detecting vehicle speed and a driver steering input, wherein the control differentially brakes the vehicle wheels to impart a commanded yaw to the vehicle, the improvement wherein the commanded yaw is determined according to a method comprising the steps of:

• determining a desired yaw rate as a function of the detected vehicle speed and driver steering input;
• determining a first yaw command component in proportion to the desired yaw rate if such first yaw command component is outside a first predefined dead-band window;
• limiting said first yaw command component to a first saturation threshold outside said first dead-band window;
• determining a second yaw command component in proportion to a rate of change of said desired yaw rate if such second yaw command component is outside a second predefined dead-band window;
• limiting said second yaw command component to a second saturation threshold outside said second dead-band window;
• summing said first and second yaw command components to form said commanded yaw.

A vehicle active brake control having sensors for detecting vehicle speed and a driver steering rate, wherein the control differentially brakes the vehicle wheels to impart a commanded yaw to the vehicle, the improvement wherein the commanded yaw is determined according to a method comprising the steps of:

• integrating the detected driver steering rate to estimate a driver steering angle;
• determining a desired yaw rate as a function of the detected vehicle speed and said estimated driver steering angle;
• determining a first yaw command component in proportion to the desired yaw rate when such desired yaw rate is outside a first predefined dead-band window, said first yaw command component being limited to a first saturation threshold outside said first dead-band window;
• determining a desired rate of change of yaw rate based on the detected vehicle speed and driver steering rate;
• determining a second yaw command component in proportion to the desired rate of change of yaw rate when such rate of change is outside a second predefined dead-band window, said second yaw command component being limited to a second saturation threshold outside said second dead-band window;
• and
• summing said first and second yaw command components to form said commanded yaw.