Actuator interventions damping method for vehicle, involves determining factor i.e. damping factor, to damp actuator interventions of vehicle controller or modifying intervention threshold of vehicle controller based on difference signal

摘要

The method involves forming a difference (4) from a reference yaw rate (2) and an actual yaw rate (1). A difference signal (6) is filtered filled using a band or high pass filter (5). A factor i.e. damping factor (14), is determine for damping actuator interventions of a vehicle controller or modifying an intervention threshold of a vehicle controller based on the filtered difference signal. A counter (11) is provided when an amplitude of the difference signal exceeds a preset threshold value. The filtered signal is assessed with values from the counter. An independent claim is also included for a vehicle controller for stabilizing a vehicle in critical driving situations.