Stability control system with body-force-disturbance heading correction

A yaw stability control system for an automotive vehicle comprising:

• at least one yaw rate sensor generating a vehicle yaw rate signal;
• a yaw rate model generator receiving a steering input and generating a reference yaw rate signal;
• a yaw rate error module comparing the vehicle yaw rate signal with the reference yaw rate signal and calculating a yaw rate error signal;
• a yaw angle error module receiving the reference yaw rate signal and generating a reference yaw angle signal, receiving the vehicle yaw rate signal and generating a vehicle yaw angle signal, and comparing the reference yaw angle signal and the vehicle yaw angle signal to generate a yaw angle error signal;
• at least one body-force-disturbance sensor unit detecting a body-force-disturbance experienced by the vehicle, the body-force-disturbance distinguished from a tire-force-disturbance based upon at least one of a magnitude of sensor signals and a quality of sensor signals;
• and
• a yaw control module generating control signals to be sent to at least one yaw actuator, prior to the detection of the body-force-disturbance the control signals being based upon the yaw rate error signal, and following the body-force-disturbance the control signals being based upon the yaw angle error signal in combination with the yaw rate error signal, the reference yaw rate signal after the detection of the body-force-disturbance being generated based upon the steering input over a time period beginning before the detection of the body-force-disturbance and ending after the detection of the body-force-disturbance.