Patent ID: 7308353

Claim:
A method for generating desired vehicle yaw rates and desired vehicle yaw accelerations for closed loop dynamic control, comprising the steps of: determining a vehicle lateral acceleration transition point; determining a first understeer gradient for vehicle lateral accelerations at and below the predetermined vehicle lateral acceleration transition point; determining a second understeer gradient for vehicle lateral accelerations above the predetermined vehicle lateral acceleration transition point; measuring an actual vehicle yaw rate; determining a first desired vehicle yaw rate pursuant to said step of determining the first understeer gradient for vehicle lateral accelerations at and below the predetermined vehicle lateral acceleration transition point; determining a second desired vehicle yaw rate pursuant to said step of determining the second understeer gradient for vehicle lateral accelerations above the predetermined vehicle lateral acceleration transition point, wherein the second desired vehicle yaw rate at the predetermined vehicle lateral acceleration transition point is calibrated to equal the first desired vehicle yaw rate at the predetermined vehicle lateral acceleration transition point so as to avoid any discontinuity therebetween at the predetermined vehicle lateral acceleration transition point; differentiating with respect to time the first desired vehicle yaw rate to thereby provide a desired vehicle yaw acceleration for vehicle lateral accelerations at and below the predetermined vehicle lateral acceleration transition point; and differentiating with respect to time the second desired vehicle yaw rate to thereby provide a desired vehicle yaw acceleration for vehicle lateral accelerations above the predetermined vehicle lateral acceleration transition point.