{
  "$type": "site.standard.document",
  "description": "Embodiments herein relate to a vehicle yaw stability control method as well as a vehicle yaw stability control apparatus (1). The yaw rate È of the vehicle is measured. A first reference yaw rate È ref is set. A difference yaw rate È is set. Stabilizing braking intervention is triggered when a…",
  "path": "/patents/982429",
  "publishedAt": "2013-10-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T8/1755",
    "VOLVO CAR CORP [SE]"
  ],
  "textContent": "Embodiments herein relate to a vehicle yaw stability control method as well as a vehicle yaw stability control apparatus (1). The yaw rate È of the vehicle is measured. A first reference yaw rate È ref is set. A difference yaw rate È is set. Stabilizing braking intervention is triggered when a value of the difference yaw rate È exceeds limits defined by difference yaw rate threshold values È min , È max . Information regarding the shape of the road ahead of the vehicle is acquired. The reliability of the driver steering input ´ is evaluated upon stabilizing braking intervention being triggered. In case the driver steering input ´ is deemed unreliable a replacement reference yaw rate È Ù ref road is set based on the acquired road shape and a replacement difference yaw rate È road is set whereupon stabilizing braking intervention is performed based on the replacement difference yaw rate È road .",
  "title": "Vehicle yaw stability control method and apparatus"
}