Method for automatically controlling the lateral dynamics of a vehicle with front-axle steering

A method for automatically controlling lateral dynamics of a vehicle with front-axle steering, comprising

• (a) obtaining deviations of measured actual values of yaw velocity from continuously generated desired values of the yaw velocity to perform the automatic controlling in dependence upon the deviations,
• (b) adjusting the measured actual values by setting at least one of wheel steering angles (δi) and wheel braking forces (Pi),
• (c) determining, with a linear vehicle model which represents a dynamic wish behavior, a first desired value {dot over (ψ)}des (δ, vx) for the yaw velocity {dot over (ψ)}, which desired value corresponds a driver's wish with respect to the path movement of the vehicle set by the operation of a steering element,
• (d) determining an additional desired value {dot over (ψ)}des(βh) or {dot over (ψ)}des(αh) in dependence on a sideslip angle limit value βhmax or a slip angle limit value αhmax, taking a secondary condition into consideration, the secondary condition being that the sideslip angle βh, in an area of the unsteered rear wheels of the vehicle, or the slip angle αh of the unsteered rear wheels should not exceed a limited value, and
• (e) using a smaller of the determined desired values as the desired value of the yaw velocity for the automatic control.