Method for increasing the driving stability of a motor vehicle

Method for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on with a braking force on a side with a low coefficient of friction by means of acceleration slip regulation, comprising:

• determining a value which corresponds to the braking force set by the means of acceleration slip regulation;
• determining a disrupting yaw momentum from the determined value;
• and
• determining a control portion of a supplemental steering angle based on the disrupting yaw momentum,
• wherein a regulation portion of the supplemental steering angle is determined in dependence on a standard deviation between a control value and a reference value measured by means of vehicle sensors or computed from measuring signals of vehicle sensors, and the supplemental steering angle corresponds to a sum of the regulation portion and the control portion,
• wherein the regulation portion of the supplemental steering angle is determined by means of a control law with the form:
• ΔδR=KFB,P(v)·Δ{dot over (ψ)}+KFB,I(v)·Δψ+KFB,D(v)·Δ{umlaut over (ψ)}
• whereby, ΔδR signifies the regulation portion of the supplemental steering angle, KFB,P, KFB,I and KFB,D each signify an amplification factor, v signifies the reference speed of the vehicle, Δ{dot over (ψ)} signifies the deviation of the yaw rates, Δψ signifies a yaw angle deviation, and Δ{umlaut over (ψ)} signifies a yaw acceleration deviation.

Method for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on with a braking force on a side with a low coefficient of friction by means of acceleration slip regulation, comprising:

• determining a value which corresponds to the braking force set by the means of acceleration slip regulation;
• determining a disrupting yaw momentum from the determined value;
• and
• determining a control portion of a supplemental steering angle based on the disrupting yaw momentum,
• wherein a regulation portion of the supplemental steering angle is determined in dependence on a standard deviation between a control value and a reference value measured by means of vehicle sensors or computed from measuring signals of vehicle sensors, and the supplemental steering angle corresponds to a sum of the regulation portion and the control portion,
• wherein the regulation portion of the supplemental steering angle is determined in dependence on a side-slip angle deviation between an estimated side-slip angle of the vehicle and a reference side-slip angle, whereby the reference side-slip angle is preset by a threshold value.

An apparatus for increasing the stability of a vehicle in an acceleration on a roadway with a non-homogenous coefficient of friction, comprising:

• a control means for the implementation of a drive slip regulation, which controls the influencing of a drive wheel on a side with a low coefficient of friction by a braking force;
• a determination unit for determining a value which corresponds to the braking force set by the control means;
• and
• an estimation unit for estimating a disrupting yaw momentum with consultation of the determined value;
• whereby a control unit determines a control portion of a supplemental steering angle in dependence on the estimated disrupting yaw momentum,
• wherein a regulation portion of the supplemental steering angle is determined in dependence on a standard deviation between a control value and a reference value measured by means of vehicle sensors or computed from measuring signals of vehicle sensors, and the supplemental steering angle corresponds to a sum of the regulation portion and the control portion,
• wherein the regulation portion of the supplemental steering angle is determined in dependence on a lateral acceleration deviation between a measured lateral acceleration of the vehicle and a reference lateral acceleration, whereby the reference lateral acceleration is preset by a threshold value.