Patent ID: 6909957

Claim:
A method for controlling yaw dynamics and lateral dynamics in a road vehicle having a first axle and a second axle comprising; determining a desired steer angle; calculating a desired front axle value signal for input to a first controller; calculating a desired rear axle value signal for input to a second controller; generating a first drive signal via said first controller for driving an electrically drivable front steer-angle actuator; generating a second drive signal via said second controller for driving an electrically drivable rear steer-angle actuator; determining a desired value S vsoll for a lateral force S v to be built up at said front axle in a control process in a control loop assigned to said front axle; determining for said desired value S vsoll a desired value δ vsoll of a front axle steering angle by a relationship of a form δ vsoll = - β + l v · Ψ . v x + α vsoll , wherein l v being a distance from a center of gravity of said vehicle to said front axle, β being a sideslip angle, {dot over (Ψ)} being a yaw velocity, α vsoll being a desired value of a slip angle at said front axle, and V x being a longitudinal speed of said road vehicle; determining a desired value S hsoll for a lateral force S h to be built up at said rear axle in a control process by a relationship of a form S hsoll = l v · m · v x L · [ Ψ . - β . hsoll + k 1 · ( β h - β ⁢ - hsoll ) ] in a control loop assigned to said rear axle, wherein m being a mass of said vehicle, L being a wheelbase of said vehicle, β hsoll being a desired slideslip angle of said vehicle in a region of said rear axle, and β h being a slideslip angle of said vehicle in said region of said rear axle, and β h being a first controller gain; and determining for said desired value S hsoll a value of a rear axle steering angle δ hsoll by a relationship of a form δ hsoll = - β - l h · Ψ . v x + α hsoll .