{
  "$type": "site.standard.document",
  "description": "In a first step, a wheel RPM sensor (6,7) determines a wheel circumference speed, and calculates a vehicle reference speed. In a second step, an additional steering angle is calculated dependent upon brake pressure differential between the wheels (1,2). The brake slip of at least one steered wheel…",
  "path": "/patents/1097443",
  "publishedAt": "2003-03-19T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T8/1764",
    "BAYERISCHE MOTOREN WERKE AG [DE]"
  ],
  "textContent": "In a first step, a wheel RPM sensor (6,7) determines a wheel circumference speed, and calculates a vehicle reference speed. In a second step, an additional steering angle is calculated dependent upon brake pressure differential between the wheels (1,2). The brake slip of at least one steered wheel on both vehicle sides is determined dependent upon wheel circumference and vehicle reference speeds, and a correction factor is calculated from the brake slip for the steered wheel at a higher friction value. Additional steering angle and correction factor are combined so that the yawing moment acting on the vehicle is compensated for evenly.",
  "title": "Method for compensating a yaw moment appearing during braking"
}