Patent ID: 9187121
Filing Date: 2015-11-17
Classification: B60T,B62D

Abstract:
1. A vehicle stabilization method, in which at least one of a steering angle of at least one steerable front axle of a vehicle and a steering angle of at least one steerable additional axle of the vehicle is changed relative to a longitudinal axis of the vehicle by automatic forced steering of the at least one steerable front axle and the at least one steerable additional axle, the method comprising: a) when a tilt tendency of the vehicle is detected by a tilt stability control device as being greater than a tilt limit angle, decelerating the vehicle to reduce the tilt tendency, and using a track keeping device to adjust at least one of (i) a changed steering angle of the at least one steerable front axle and (ii) a changed steering angle of the at least one steerable additional axle to counteract one of understeering and oversteering of the vehicle resulting from decelerating the vehicle; and b) determining a direction of motion at a wheel contact point of at least one additional axle wheel disposed on the at least one steerable additional axle relative to the longitudinal axis of the vehicle, adjusting the steering angle of the at least one steerable additional axle based on the direction of motion to reduce a drift angle of the at least one additional axle wheel relative to the direction of motion, determining whether there is one of understeering of the vehicle in excess of a preselected understeer limit value, and oversteering of the vehicle in excess of a preselected oversteer limit value, and effecting at least one braking intervention on the at least one additional axle wheel of the at least one steerable additional axle when one of understeering of the vehicle in excess of the understeer limit value and oversteering of the vehicle in excess of the oversteer limit value is determined.