Abstract: A system and method of controlling an automotive vehicle includes determining a steering wheel angle, determining a steering wheel direction, determining a steering wheel angular rate and applying brake-steer as a function of steering wheel angle, steering wheel angular rate and steering wheel direction.

Abstract: System for controlling the stability of a vehicle, the system comprising means for imparting a longitudinal force to the tire and means for calculating a slip GOpt by determining the values of the coefficient of friction ?i, for each slip Gi corresponding to successive levels “i”, using in parallel “n” calculation algorithms each determining a target value of the slip making it possible thus to obtain as many target values GCn as there are algorithms used, the system selecting the best of the target values GCn as the optimum slip value GOpt by subjecting the “n” target values GCn to comparisons aimed at eliminating the least likely target values, the comparisons being made on the basis of a function f(?) of a descriptor of the physical functioning of the rotation of the tire on the ground making it possible to calculate characteristic values. For example, one interesting characteristic value is the variation in G with respect to time.

Abstract: This device is applied to a vehicle having a dual circuit brake conduit (so-called X-conduit) comprising a circuit for a front-right wheel and a rear-left wheel and a circuit for a front-left wheel and a rear-right wheel. This device obtains basic control volume Gb based upon a vehicle body speed and a road friction coefficient during an understeer restraining control or oversteer restraining control, and obtains yaw control volume Gd based upon a deviation between a target yaw rate and actual yaw rate. Then, it exerts braking force according to the basic control volume Gb respectively on two wheels of one circuit to which front wheel at the outer side of the turning direction and the rear wheel at the inner side of the turning direction belong, to thereby decelerate the vehicle, and further exerts braking force according to the yaw control volume Gd on either one wheel of the same circuit, thereby producing a yawing moment for making the turning state close to the target state.

Abstract: A vehicle dynamics behavior reproduction system capable of describing accurately behavior of a motor vehicle in a lateral direction even for nonlinear driving situation includes a vertical wheel force arithmetic module (105), a lateral wheel force arithmetic module (110), a cornering stiffness adaptation module (115), a state space model/observer unit (120), a selector (130), a delay module (135), and a tire side slip angle arithmetic module (125). Vertical wheel forces (FZij) and tire side slip angles (?ij) are determined by using sensor information and estimated values while lateral wheel forces (FYij) are determined in accordance with a relatively simple nonlinear approximation equation. The lateral wheel force (FYij) and the tire side slip angle (?ij) provide bases for adaptation of cornering stiffnesses at individual wheels. Vehicle motion is accurately described to a marginal stability by using adapted cornering stiffnesses (Cij) and other information.

Abstract: A vehicular brake system includes a brake actuator that enables brake assist to be carried out, the brake assist increasing a braking force exhibited by wheel brakes in response to a braking operation input by a vehicle driver in comparison with the braking force when it is unassisted. The system further includes braking operation detection means for detecting a braking operation by the driver; emergency avoidance steering operation detection means for detecting an emergency avoidance steering operation by the driver, and actuator control means for controlling operation of the brake actuator so as to carry out the brake assist in response to the detection means detecting a braking operation while an emergency avoidance steering operation is being detected by the detection means or during a period from the detection of the emergency avoidance steering operation by the detection means to the time when a predetermined period of time has elapsed after the detection has ended.

Abstract: An electronic control unit calculates a target yaw rate in accordance with a vehicle speed and a steering angle and calculates the yaw rate difference on the basis of the target yaw rate and an actual yaw rate. The electronic control unit estimates the grip factor of a front wheel to road surface and sets a distribution ratio for distribution of a vehicle-control target value among actuators of a steering system, a brake system, and a drive system in accordance with the estimated grip factor. The electronic control unit controls the actuators of the three systems in accordance with control instruction values distributed on the basis of the vehicle-control target value and the distribution ratio.

Abstract: The brake system of the invention, during the ABS control mode, corrects the target slip rate in accordance with the turning of the vehicle, and determines whether the vehicle is running on a poor surface road. If the vehicle is running on a poor surface road, the system sets a target slip rate that provides a greater longitudinal force than the aforementioned target slip rate.

Abstract: In a vehicle attitude control system of an automotive vehicle employing a pump-and-motor assembly, and a hydraulic actuator that regulates fluid pressures in wheel-brake cylinders of road wheels of the vehicle, independently of each other, a control unit is electronically connected to at least a motor of the pump-and-motor assembly and the hydraulic actuator, for executing vehicle attitude control by controlling a discharge pressure of the motor-driven pump and by controlling the fluid pressures in the wheel-brake cylinders to respective desired fluid pressures independently of each other. A processing unit of the control unit is programmed to determine a duty ratio of a drive signal of the motor, based on the desired fluid pressure of at least one of the wheel-brake cylinders.

Abstract: A method of controlling an automotive vehicle having a turning radius includes determining a hand wheel torque and applying brake-steer as a function of hand wheel torque.

Abstract: An apparatus and control method for a motor vehicle having steerable front and rear wheels and an associated wheel brake for each wheel. The apparatus and control method includes a sensor for generating a vehicle dynamic state signal based upon a sensed vehicle dynamic state of the vehicle. A vehicle stability control system is provided to control the selective braking of the wheel brakes of the vehicle based, at least in part, upon the vehicle dynamic state signal. A rear wheel steering system for controlling steering of the rear wheels based, at least in part, upon the vehicle dynamic state signal is also provided.

Abstract: A control of a vehicle motion control device 10 is as follows during an oversteer restraining control. Specifically, when tire inflation pressure is appropriate, the device sets braking force exerted on each of front and rear wheels at the outer side of the turning direction so as to be reference braking forces Ff1 and Fr1, that are generated when an absolute value of a lateral acceleration deviation ?Gy is not less than a reference value a1 and that respectively increase up to an upper limit value ff and upper limit value fr in accordance with the increase in the absolute value of the lateral acceleration deviation ?Gy.

Abstract: A yaw stability system for a vehicle as well as methods for controlling yaw in a vehicle and estimating the retarding torque of an electromagnetic retarder. The yaw stability system includes a yaw rate sensor, a plurality of braking devices, and a control unit. The control unit communicates with the yaw rate sensor and is configured to identify a desired yaw rate, select one or more of the plurality of braking devices based on a yaw condition, and communicate a control command to one or more of the selected braking devices to induce a control yaw moment. The method for controlling yaw includes determining a vehicle yaw rate and desired yaw rate, calculating a yaw rate error, determining a control yaw moment using a sliding mode control law based on a lumped mass vehicle model, selecting one of the braking devices based on a vehicle yaw condition, determining a control command based on the control yaw moment, and communicating the control command to one of the selected braking devices.

Abstract: In a vehicle dynamics control (VDC) system for a four-wheel-drive vehicle employing a brake control system regulating braking forces applied to road wheels independently of each other and a differential mechanism controlling a differential motion between front and rear wheel axles, a VDC controller controls a braking force of each road wheel depending on whether the vehicle is in oversteering or understeering. The VDC controller includes a braking-force compensation section that compensates for a braking force of at least one of a first wheel, which is subjected to vehicle dynamics control, and a second wheel to which a transferred braking force is transferred from the first wheel through the differential mechanism, to reduce a braking force of the second wheel and to prevent the braking force of the second wheel from exceeding a lateral grip limit of the second wheel during the vehicle dynamics control.

Abstract: The invention provides a roll-over suppressing control apparatus for a vehicle which can make a decision of a start of roll suppressing control appropriately in response to the degree of the possibility of turning over on its side of the vehicle. The roll-over suppressing control apparatus includes a braking mechanism for braking wheels of the vehicle, a roll rate sensor for detecting a roll rate of the vehicle, and a roll-over suppressing control section for controlling the braking mechanism so that, if the roll rate detected upon turning of the vehicle becomes equal to or higher than a control starting threshold value, then it is decided that the vehicle is in an excessively rolling state and braking force is applied to the wheels. The control starting threshold value is set to different values depending upon different types of turning of the vehicle (depending upon whether the turning is sudden steering back turning, moderate steering back turning or one-directional turning).

Abstract: A control system for an automotive vehicle having a vehicle body includes a sensor cluster having a housing oriented within the vehicle body. A roll rate sensor is positioned within the housing and generates a roll rate sensor signal corresponding to a roll angular motion of the sensor housing. A controller receives the roll rate sensor signal, the controller generates a residue signal in response to a sensor error or a measurement error. The controller sets a fault condition in response to the residue signal larger than a dynamic threshold and a magnitude of the roll rate signal above a fault condition threshold. The controller sets a fault flag in response to the fault condition indicated for a predetermined time during which no double wheel lift occurs.

Abstract: The present invention is directed to a vehicle motion control apparatus, which includes a hydraulic pressure regulating device disposed between a master cylinder and a pair of wheel brake cylinders included in each of a dual hydraulic circuit, and a monitor for monitoring state variable of the vehicle. A desired value is provided for a wheel brake cylinder operatively associated with a wheel to be controlled, on the basis of the state variable. The regulating device is controlled in response to a result of comparison between the desired value and the state variable, to regulate the pressure in at least the wheel brake cylinder operatively associated with said wheel to be controlled. A pressure increasing gradient of the hydraulic braking pressure in the wheel brake cylinder operatively associated with the wheel to be controlled, is set in response to a result of comparison between the desired value and the state variable.

Abstract: A method and system for preventing rollover of a vehicle train comprising a tractor vehicle and a trailer vehicle. A control system is provided in the tractor vehicle which automatically initiates actuation of the braking system of the tractor vehicle and/or of the trailer vehicle if a danger of rollover of the vehicle train is recognized. A data signal from which it is possible to deduce the speed of at least one wheel of the trailer vehicle at the inside of a curve is transmitted from the trailer vehicle to the control system. The control system uses the data signal to recognize the danger of rollover of the vehicle train.

Abstract: A method and apparatus for providing integrated chassis control of a vehicle over the entire range of the vehicle dynamic state, including steady state and non-steady state steering conditions and linear and non-linear tire behavior, based on the general steer equation by using an estimated understeer and oversteer steering behavior indicator. The method and apparatus are particularly adapted to provide a yaw control apparatus and method. The steering behavior indicator may be calculated as a function of certain vehicle dynamic state inputs. A weighting factor for the calculation of the steering behavior indicator is determined as a function of certain vehicle dynamic state indication parameters.

Abstract: A control system that employs closed-loop control for providing active vehicle rear-wheel steering, where the control system receives longitudinal wheel slip inputs to improve the vehicle directional stability. The longitudinal wheel slip inputs can be from one or more of wheel speed, traction control on and automatic braking system on. The control system includes an open-loop controller for generating an open-loop steering control signal, a yaw rate feedback controller for generating a yaw rate feedback signal, and a side-slip rate controller for generating a side-slip rate feedback signal. The open-loop steering control signal, the yaw rate feedback signal and the side-slip rate feedback signal are combined to generate the steering control signal to steer the vehicle rear wheels.

Abstract: The present invention is a method and system to control regenerative braking during the operation of a yaw stability control system. The method and system use feedback control algorithms to monitor and dynamically modify regenerative and non-regenerative braking. The controller can use a simple proportional-integral-derivative feedback controller. A vehicle yaw stability control system can determine if a vehicle is experiencing an oversteer or understeer condition. The controller compares actual brake balance to a desired brake balance. The controller determines if the front axle wheels are overbraked relative to the rear axle wheels or if the rear axle wheels are overbraked relative to the front axle wheels as compared to the desired brake balance. The controller can adjust regenerative braking and non-regenerative braking levels according to the determinations.

Abstract: A system and method of controlling an automotive vehicle includes determining a forward direction and reverse direction of the vehicle and applying brake-steer in a forward position as a function of a first threshold and applying brake-steer in the reverse position as a function of a second threshold different than the first threshold.

Abstract: In brake pressure estimating method and apparatus for an automotive vehicle, at a second wheel cylinder brake liquid pressure estimating, a vehicular state is detected and the second wheel cylinder brake liquid pressure for each road wheel is calculated from the detected vehicular motion state, and, at a master cylinder liquid pressure estimating, a master cylinder liquid pressure estimated value is outputted to make a difference between a first wheel cylinder brake liquid pressure estimated value based on a vehicle model and the second wheel cylinder brake liquid pressure estimated value based on a hydraulic unit model small to cause the master cylinder liquid pressure estimated value to be converged into a true value thereof.

Abstract: This device sets, upon executing only a roll-over preventing control, roll-over preventing braking force exerted on a front wheel at the outer side of the turning direction based upon a table value obtained through an absolute value |Gy| of an actual lateral acceleration and a predetermined table, and sets, upon executing only an US restraining control, US restraining braking force exerted on a rear wheel at the inner side of the turning direction based upon a table value obtained through an absolute value |?Gy| of a lateral acceleration deviation, that is a deviation between a target lateral acceleration and the actual lateral acceleration, and a predetermined table.

Abstract: A stability control system for road vehicles comprising a limit handling assistance controller which uses video lane detection measurements in conjunction with vehicle dynamics information, including inertial brakes and steering measurements to control vehicle EPS and VSC systems to assist the driver stabilize the vehicle and correct for any lane offset prior to and/or during of understeer, oversteer, split-? and heavy breaking conditions, and lane changes.

Abstract: A system and method establishes an acceleration of a vehicle which may be used to control a brake system of a towed vehicle towed by a towing vehicle. The system and method establish a gravity vector representing acceleration due to gravity, measure acceleration of the vehicle in a first direction and responsively establish a first acceleration value, measure acceleration of the vehicle in a second direction and responsively establish a second acceleration value, and establish a magnitude of the acceleration of the vehicle in a plane orthogonal to the gravity vector as a function of the gravity vector and the first and second acceleration values.

Abstract: A device and method are provided for determining a longitudinal force (Fx) exerted on a wheel of a motor vehicle by a ground surface supporting the wheel, the vehicle including connections means which connect the wheel to a body of the vehicle. An actual force (FAX) is measured at the level of at least one measurement point in the connection means. A force (FDx, Fx) is calculated which results from a transmission via the connection means from the at least one measurement point to the wheel, of a body-associated force (FADX, FAX), which depends at least on the actual force. The longitudinal force (Fx) exerted on the wheel by the ground surface is calculated as a function at least of the force (FDx; Fx) resulting from the transmission of the body-associated force.

Abstract: A method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between the obstacle and the vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around the obstacle. The method also includes: applying braking if at least one of, the first distance exceeds the actual distance and the first distance is within a selected threshold of the actual distance. If the actual distance exceeds the second distance and a lane change is permitted, steering control to affect a lane change is applied.

Abstract: A steering booster process is provided for a motor vehicle with a steering arrangement for the input of a set steering variable by a driver, several travel sensors for detecting travel dynamic variables, a steering control system by way of which a steering control variable, which is determined dependent on the output variables of the several travel sensors, is overlapped on the set steering variable, as well as at least one other control system that influences the performance of the motor vehicle, which evaluates data from the steering control system. The additional control system is especially a braking control system for stabilizing the vehicle stability by braking individual vehicle wheels. The additional control system evaluates the set steering variable overlapped by the steering control variable from the steering control system.

Abstract: To provide a new vehicle control technique, a calculation section calculates a cornering power ka using the detected longitudinal force Fx, lateral force Fy, and vertical force Fz, and the identified friction coefficient ?. This calculation is made based on the correlation between a slip angle ? of the wheels and the lateral force Fy. Based on thus calculated cornering power ka and a target cornering power ka? required for the wheels, a processing section determines a change amount for changing at least one action force out of the longitudinal force Fx, the lateral force Fy, and the vertical force Fz, all acting on the wheels. Based on thus determined change amount, a control section controls at least one action force out of the longitudinal force Fx, the lateral force Fy, and the vertical force Fz, all acting on the wheels.

Abstract: A method for increasing the maneuverability and driving stability of an automotive vehicle during cornering, the rotational behavior or the wheel slip of the individual vehicle wheels is monitored, and the distribution of the brake force to the curve-outward wheels compared to the brake force conducted to the curve-inward wheels is varied in dependence on the wheel rotational behavior and on the slip of the wheels. When cornering is detected, a total deceleration of the vehicle that corresponds to the driver's request is determined, and a vehicle deceleration that corresponds to the driver's request is achieved by increasing the brake force at the curve-outward wheels and decreasing or maintaining the brake force at the curve-inward wheels.

Abstract: A system and method of controlling an automotive vehicle with a yaw stability control system and a trailer comprises determining a presence of a trailer, changing a side slip angle parameter threshold of the vehicle to a modified side slip parameter in response to the trailer signal, and controlling the yaw stability control system in response to the modified side slip parameter.

Abstract: In a method for regulating the driving stability of a vehicle pressures for individual brakes of the vehicle are determined in dependence on several input quantities so that the driving stability is enhanced by brake interventions at individual wheels. To enhance the driving stability of a vehicle, it is determined during stable driving performance whether in view of a highly dynamic steering maneuver there is a tendency to a subsequent unstable driving performance, and in this case brake pre-intervention will occur already when the vehicle exhibits a stable driving performance.

Abstract: The performance of a system for controlling vehicle-movement dynamics, which operates the braking system and the drive train of a vehicle in order to prevent lateral breakaway of the vehicle, is improved yet further for the case in which oversteering of the vehicle is to be compensated. To this end it is proposed, according to the invention, that a braking moment be produced on the front wheel on the outside of the bend by the braking system, and an additional drive moment be built up by the drive train on the driven wheels.

Abstract: A rear-wheel steering angle control device includes a target rear-wheel steering angle calculating means for calculating a target rear-wheel steering angle based upon the detection by a detecting means. The target rear-wheel steering angle calculating means further calculates an averaged locus by averaging a front end point running locus based upon a sample point memorized by a front end point locus memorizing means. The target rear-wheel steering angle calculating means still further limits the target rear-wheel steering angle not to deviate a vehicle rear end point from an inner range of the averaged locus.

Abstract: A control system for an automotive vehicle having a vehicle body includes a sensor cluster having a housing oriented within the vehicle body. A roll rate sensor is positioned within the housing and generates a roll rate sensor signal corresponding to a roll angular motion of the sensor housing. A controller receives the roll rate sensor signal and generates a reference roll angle. The controller also compares the reference roll angle to the roll rate sensor signal and generates a roll rate sensor fault signal in response a fault determined in said roll rate sensor.

Abstract: A method, computer usable medium including a program, and a system for braking a vehicle during brake failure. The method and computer usable medium include the steps of determining a brake force lost corresponding to a failed brake, and determining a brake force reserve corresponding to at least one non-failed brake. At least one command brake force is determined based on the brake force lost and the brake force reserve. The at least one command brake force is applied to the at least one non-failed brake wherein at least one of an undesired yaw moment and a yaw moment rate of change are limited to predetermined values. The system includes a plurality of brake assemblies wherein a command brake force is applied to at least one non-failed brake.

Abstract: A motion control device 10 for a vehicle exerts braking force only on the rear wheel at the inner side of the turning direction for generating a yawing moment on the vehicle only in the turning direction of the vehicle when an absolute value of an actual lateral acceleration Gy is not more than a value Gyth, i.e., when there is a small possibility of the occurrence of an excessive roll angle on the vehicle body, in case where the turning state of the vehicle is the understeer state. On the other hand, it exerts braking force not only on the rear wheel at the inner side of the turning direction, but also on the front and rear wheels at the outer side of the turning direction for generating a yawing moment in the direction opposite to the turning direction too, when the absolute value of the actual lateral acceleration Gy exceeds the value Gyth, i.e.

Abstract: A brake control apparatus for controlling at least three brake devices provided for braking respective at least three wheels of an automotive vehicle which includes two wheels located on respective left and right sides of the vehicle, wherein an emergency brake control portion is provided for controlling at least two normal brake devices when at least one of the at least three brake devices is defective, such that a difference between a total left-side braking force to be generated by at least one normal brake device located on the left side of the vehicle and a total right-side braking force to be generated by the other normal brake device or devices located on the right side is made larger when operations of all of the normal brake devices in a detected running condition of the vehicle are not likely to deteriorate the vehicle running stability, than when the operations of all of the normal brake devices in the detected running condition are likely to deteriorate the vehicle running stability.

Abstract: The present invention is a method for controlling a ground vehicle, for automated steering control of the vehicle or the like. The method of the present invention includes using a GPS receiver or the like and an inertial gyro or the like for providing automated steering control of the ground vehicle. A difference between a measured off-track error and a lateral error command is fed into a lateral error control loop, producing a lateral velocity command. Then, a difference between a measured lateral velocity and the lateral velocity command is fed into a lateral velocity control loop, producing a yaw rate command. Finally, a difference between a measured yaw rate, the yaw rate command, and a curved track yaw rate for the intended path of the vehicle is computed and fed into a yaw rate control loop, producing a valve command for steering the ground vehicle on or towards its intended path.

Abstract: A yaw stability control system is based on a linearized vehicle model and a predictive control algorithm. The control algorithm compares the vehicle yaw rate, from, for example, a production grade yaw rate sensor, with a desired yaw rate, which may be computed based on the vehicle speed and the steering wheel angle. If the yaw rate error, defined as the difference between the desired and measured yaw rates, exceeds a certain threshold, a controlling yaw moment is calculated based on the predictive control algorithm. This controlling yaw moment, or yaw torque, command is then translated into one or more actuator commands. For example, the control yaw moment may be produced by braking one or more of the vehicle's wheels.

Abstract: In a vehicle having an ABS control system, a braking control of a right and left rear wheels can be independently carried out when a lateral acceleration exceeds a lateral acceleration value set beforehand. When the ABS control is operated at one of the right and left rear wheels, the control system executes a stepwise pressure increase control which provides a stepwise pressure increase for the other rear wheel up to a braking pressure to be reached at a start of the control.

Abstract: Device and method are described for operating a vehicle using a vehicle controller to individually adjust braking forces of the wheels of at least one axle of the vehicle and using a yawing moment compensator to at least partially compensate for a yawing moment of the vehicle resulting from different braking forces of individual wheels of at least one axle by intervening in a steering of the vehicle, the action of the yawing moment compensator on the steering not being performed or only to a lesser degree while the vehicle controller is adjusting braking forces.

Abstract: The invention proposes a method for regulating a stability control system of a vehicle based on the forces acting at the center of each wheel of the vehicle. The actions of the driver, i.e. steering, acceleration or braking, produce forces (changes in forces) are transmitted by the tires to the ground. Control of the operating means of the vehicle (active anti-roll device, engine torque, braking torque, load per wheel or direction) utilizes instructions resulting from the actions of the driver to apply forces. The invention proposes a method of expressing, in terms of forces, the inputs of the driver as a function of the inertia of the vehicle body, velocity of forward movement of the vehicle, and angle at the steering wheel (steering wheel velocity and steering wheel acceleration). If the actual forces that are measured do not correspond to the forces desired by the driver, the active system compensates for this difference by acting on the force distributions in the chassis.

Abstract: A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. The limited-frequency integrator includes a feedback loop which incorporates a cutoff frequency for the integrator.

Abstract: A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the limited-frequency integrator when a first condition occurs. The first condition is one of a straight-driving condition, a speed condition, and a sensor bias condition. The estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal. The side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal. The actuator control signal is received by one of at least one brake actuator and a rear-wheel steering actuator to create a yaw moment to correct a dynamic behavior of the vehicle.

Abstract: A device for controlling an over-rolling of a vehicle estimates a first parameter indicative of a rolling amount of the vehicle body, and a second parameter indicative of a change rate of the rolling amount the vehicle body. The device controls the brake system such that the brake system is actuated to accomplish a target deceleration of the vehicle when the first parameter quantity exceeds a predetermined threshold value. The target deceleration is increased from a predetermined minimum value to a predetermined maximum value according to an increase of the second parameter quantity.

Abstract: A motion control device 10 for a vehicle exerts braking force only on the rear wheel at the inner side of the turning direction for generating a yawing moment on the vehicle only in the turning direction of the vehicle when an absolute value of an actual lateral acceleration Gy is not more than a value Gyth, i.e., when there is a small possibility of the occurrence of an excessive roll angle on the vehicle body, in case where the turning state of the vehicle is the understeer state. On the other hand, it exerts braking force not only on the rear wheel at the inner side of the turning direction, but also on the front and rear wheels at the outer side of the turning direction for generating a yawing moment in the direction opposite to the turning direction too, when the absolute value of the actual lateral acceleration Gy exceeds the value Gyth, i.e.

Abstract: In braking force control apparatus and method for an automotive vehicle, a front-and-rear road wheel braking force distribution determining section determinatively distributes a front-and-rear road wheel braking force at a front-and-rear road wheel braking force distribution toward front and rear road wheel sides of the vehicle in accordance with a vehicular turning state to achieve the target deceleration and the vehicular deceleration developing section develops the target deceleration on the basis of the front-and-rear road wheel braking force distribution determined by the front-and-rear road wheel braking force distribution determining section.

Abstract: An improved hydraulically assisted braking and steering system of a vehicle having a hydraulic pump communicating with a hydraulic steering assist device and including a hydraulic brake assist device coupled in series between the pump and the steering assist device includes the provision of a flow splitter which operates to reduce the interdependence of the hydraulic brake and steering assist devices on the flow of fluid from the pump. The flow splitter communicates with the outlet of the pump and the inlet of the brake assist device and is operative when the back pressure from the brake assist device exceeds a predetermined control value to divert a fraction of the flow of fluid around the brake assist device directly to the steering assist device, thereby providing sufficient flow to operate both the brake and steering assist devices within their normal design limits, rather than having the brake assist device starve the steering assist device when under heavy load.

Abstract: The invention relates to a vehicle braking system comprising regulating devices, which determine the transversely dynamic behaviour of the vehicle, in order to maintain or restore stable vehicle behaviour by setting the braking torque, independently of the driver, on individual vehicle wheels. The performance of said braking system is configured to prevent the vehicle from overturning laterally when negotiating curves. To achieve this, according to the invention it is proposed that a braking torque should be generated on the front wheel on the outside of the curve, or a braking torque that has already been set should be increased.