Process for controlling the yaw relationship of vehicles

Method for controlling yaw behavior of a vehicle having steered wheels on at least one axle and having a plurality of braked wheels, said method comprising;

• determining a setpoint for a vehicle yaw rate, using a desired value for a steering angle of the vehicle, specified by a driver of the vehicle, and a determined value of the vehicle speed;
• determining an actual value of the vehicle yaw rate;
• and
• determining a controlling deviation from a difference between the actual value and the setpoint for the yaw rate;
• wherein
• the controlling deviation is supplied to a steering controller and to a braking controller, which steering controller and braking controller respond to the controlling deviation independently of each other, with at least one steering setpoint for a steering angle of the steered wheels being determined in the steering controller as a function of the controlling deviation, independently of the braking controller, and respective braking setpoints for change in braking pressure being determined in the braking controller as a function of the controlling deviation for respective ones of the braked wheels, independently of the steering controller;
• a specified braking pressure is determined for respective ones of the braked wheels as a function of the respective braking setpoints for the change in braking pressure;
• a braking pressure corresponding to the specified braking pressure is produced by braking pressure adjusting members in wheel brake cylinders of respective braked wheels;
• a wheel steering angle corresponding to said steering setpoint is produced by steering adjustment members at the steered wheels;
• and
• the influence of the braking controller on the vehicle can be adjusted by a presettable amplification factor, while the behavior of the steering controller remains unchanged;
• wherein the amplification factor is determined as a function of values specified by the driver.

A device for controlling yaw behavior of a vehicle having steered vehicle wheels and braked vehicle wheels, comprising:

• a steering input device for a vehicle operator to input a desired value for a steering angle of the vehicle;
• a braking input device operable by the vehicle operator to input a braking pressure;
• a unit which generates a setpoint for a vehicle yaw rate based on said desired value for the steering angle of the vehicle;
• a unit which provides a signal indicative of an actual value of the vehicle yaw rate;
• a comparison unit which determines a controlling deviation from a difference between the actual value and the setpoint for the vehicle yaw rate;
• a steering controller which determines at least one steering setpoint for a steering angle of the steered wheels, as a function of the controlling deviation, for causing a steering actuator to set a wheel steering angle corresponding to said steering setpoint;
• and
• a braking controller which determines respective braking setpoints for change in braking pressure for respective ones of the braked wheels, as a function of the controlling deviation, for causing braking actuators to adjust braking pressure for the respective braked wheels as a function of said braking setpoint and of said braking pressure input by the vehicle operator;
• wherein,
• said steering controller and said braking controller respond to said controlling deviation independently of each other to generate respective steering and braking setpoints, with at least one steering setpoint for a steering angle of the steered wheels being determined in the steering controller as a function of the controlling deviation, independently of the braking controller, and respective braking setpoints for change in braking pressure being determined in the braking controller as a function of the controlling deviation for respective ones of the braked wheels, independently of the steering controller, whether or not the vehicle operator has operated the braking input device, to provide vehicle yaw behavior control.

Method for controlling yaw behavior of a vehicle having steered wheels on at least one axle and having a plurality of braked wheels, said method comprising:

• determining a setpoint for a vehicle yaw rate, using a desired value for a steering angle of the vehicle, specified by a driver of the vehicle, and a determined value of the vehicle speed;
• determining an actual value of the vehicle yaw rate;
• and
• determining a controlling deviation from a difference between the actual value and the setpoint for the yaw rate;
• wherein
• the controlling deviation is supplied to a steering controller and to a braking controller, which steering controller and braking controller respond to the controlling deviation independently of each other, with at least one steering setpoint for a steering angle of the steered wheels being determined in the steering controller as a function of the controlling deviation, independently of the braking controller, and respective braking setpoints for change in braking pressure being determined in the braking controller as a function of the controlling deviation for respective ones of the braked wheels, independently of the steering controller;
• a specified braking pressure is determined for respective ones of the braked wheels as a function of the respective braking setpoints for the change in braking pressure;
• a braking pressure corresponding to the specified braking pressure is produced by braking pressure adjusting members in wheel brake cylinders of respective braked wheels;
• a wheel steering angle corresponding to said steering setpoint is produced by steering adjustment members at the steered wheels;
• and
• the influence of the braking controller on the vehicle can be adjusted by a presettable amplification factor determined as a function of values specified by the driver.