Patent ID: 8442736

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 (Cfi); said system comprising a safety system configured to generate said control parameters (Cfi) as a function of a control quantity (Cf) associated with the braking force to be exerted on at least one of said wheels; said system being characterized by comprising a vehicle handling enhancement system configured to: calculate a reference vehicle yaw acceleration ({umlaut over (ψ)} REF ) on the basis of at least the longitudinal speed (vel) of said vehicle and the steer angle (δ) of the vehicle; adjust said control quantity (Cf) to zero the difference between the measured actual yaw acceleration ({umlaut over (ψ)}) and said reference vehicle yaw acceleration ({umlaut over (ψ)} REF ) wherein said vehicle handling enhancement system is configured to determine said reference vehicle yaw acceleration ({umlaut over (ψ)} REF ), while said vehicle is cornering and is stable with no roll, according to the equations: ψ . REF = δ ⁢ Vel ( τ ⁢ ⁢ sL + K US ⁢ Vel 2 ) ψ ¨ REF = ⅆ ψ . REF ⅆ t where {dot over (ψ)} REF is the reference yaw rate; δ is the steer angle; K US is an understeer coefficient; L is the vehicle wheelbase; TS is the steering ratio; and Vel is the longitudinal vehicle speed.