Patent ID: 11891048
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 10:
11. The method as claimed in claim 10, in which the threshold is calculated by a second equation:, α
      min
    
    =
    
      max
      ⁡
      
        (
        
          
            1
            -
            
              
                
                  (
                  
                    
                      C
                      f
                    
                    +
                    
                      C
                      r
                    
                  
                  )
                
                
                  
                    C
                    f
                  
                  ⁢
                  
                    
                      C
                      r
                    
                    ⁡
                    
                      [
                      
                        
                          
                            (
                            
                              
                                l
                                f
                              
                              +
                              
                                l
                                r
                              
                            
                            )
                          
                          2
                        
                        +
                        
                          κ
                          ⁢
                          
                            
                          
                          ⁢
                          
                            V
                            2
                          
                        
                      
                      ]
                    
                  
                
              
              ⁢
              
                
                  M
                  
                    DB
                    ⁢
                    
                      
                    
                    ⁢
                    _
                    ⁢
                    
                      
                    
                    ⁢
                    sat
                    ⁢
                    
                      
                    
                    ⁢
                    _
                    ⁢
                    
                      
                    
                    ⁢
                    act
                  
                
                
                  ρ
                  max
                
              
            
          
          ,
          0
        
        )
      
    
  

  
    
      where
      :
      
        

      
      ⁢
      κ
    
    =
    
      m
      ⁡
      
        (
        
          
            
              l
              r
            
            
              C
              f
            
          
          -
          
            
              l
              f
            
            
              C
              r
            
          
        
        )
      
    
  

and where:
V is the speed of the motor vehicle,
lf is a distance between a center of gravity and a front axle of the motor vehicle,
lr is a distance between the center of gravity and a rear axle of the motor vehicle,
Cf is a coefficient of cornering stiffness of front wheels of the motor vehicle,
Cr is a coefficient of cornering stiffness of rear wheels of the motor vehicle,
m is a mass of the motor vehicle,
MDB_sat_act is the maximum yaw moment limit that can be imposed by the differential braking system,
ρmax is a maximum curvature of the path that the motor vehicle can follow.