Vehicle stability control method using tyre lateral forces and taking into account inertia of the vehicle

The effective yawing couple exerted by the wheels of the vehicle is calculated in real time from collected transverse forces at the centre of each front and rear wheel. The desired yaw couple is calculated from steering wheel signals and a comparison is made of the two couples. If the actual yaw couple exceeds the desired yaw couple the motor couple and braking are modified to diminish the error signal. Similar procedures apply to other forces