Importance

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Abstract

For the purpose of controlling the yaw dynamics and lateral dynamics in a road vehicle with electrically controlled four-wheel steering, in the case of which the setting of the front axle steer angle δv and of the rear axle steer angle δh is performed by means of mutually decoupled control loops, a desired value δvsoll for the lateral force Sv to be built up at the front axle is determined in the control loop assigned to the front axle and, for this desired value Svsoll, the value of the slip angle, linked to the desired value Svsoll, is determined as desired value αvsoll from an Sv(αv) characteristic representing the dependence of the lateral force Sv, to be built up at the front axle, on the slip angle αv. In the control loop assigned to the rear axle, a desired value Shsoll for the lateral force Sh to be built up at the rear axle is determined in a control process in accordance with a controller law of the form ##EQU1##

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First Claim