METHOD FOR CONTROLLING A WHEELED VEHICLE IN LOW-GRIP CONDITIONS

A method of controlling a vehicle having wheels provided with tires resting on a surface, the method using a model of the physical behavior of each tire as a function of a sideslip angle (β) for each tire relative to the surface. The model is obtained by implementing an adaptive algorithm that selectively applies an affABREGEine model (Z), a DUGOFF model (Z), or a constant model (Z).