Patent ID: 8660750

Claim:
A system for controlling a vehicle comprising a number of wheels, and a brake assembly for exerting braking force on at least one wheel on the basis of a number of control parameters (Pi) selected from among wheel speed, steering wheel angle, accelerator pedal position, yaw rate, lateral acceleration, and longitudinal acceleration; said system comprising a vehicle stability control system configured to generate said control parameters (Pi) as a function of a control quantity (ΔP) associated with the intensity of the braking force to be exerted on at least one said wheel and comprising the sum of a pressure gradient ΔP 1 generated by an open-loop control block, and a pressure gradient ΔP 2 generated by a main controller; said system comprising a vehicle handling enhancement system configured to: determine the presence/absence of cornering acceleration of said vehicle as a function of longitudinal vehicle velocity (v 1 ), the steer angle (δ) of front wheels of the vehicle, and an operating speed (ω) of a vehicle accelerator pedal; if a vehicle cornering acceleration is detected calculate, in the presence of said cornering acceleration of the vehicle, a reference vehicle yaw rate ({dot over (ψ)} REF ) by a Taylor series of the equation: ψ . REF = δ ⁢ v 1 ( τ ⁢ ⁢ sL + K US ⁢ v 1 2 ) ; adjust said control quantity (ΔP) to zero the difference between the actual yaw rate ({dot over (ψ)}) and said reference vehicle yaw rate ({dot over (ψ)} REF ) where K US is an understeer coefficient; L is the vehicle wheelbase; τs the steering ratio; and v 1 is the longitudinal vehicle velocity.