System and procedure for controlling a vehicle

Abstract

System (200) for controlling a vehicle (10), comprising: a sensor system (28); and at least one processor (44) which is in operational communication with the sensor system, wherein the at least one processor (44) is configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor (44) to: to receive yaw rate values, lateral acceleration values ​​and longitudinal velocity values ​​for the vehicle (10) from the sensor system (28); To determine lateral slip angle parameter values ​​based on the yaw rate values, the lateral acceleration values, and the longitudinal velocity values; to determine phase portrait angles (θ) based on the sideslip angle parameter values ​​and the yaw rate values, wherein the phase portrait angles each represent an angle between yaw rate (r) and sideslip angle (β) for the vehicle (10) in a phase portrait (100) of yaw rate (r) and sideslip angle (β); to detect or predict vehicle instability based at least on the phase portrait angles (θ); to control the vehicle (10) in such a way that vehicle instability is at least partially corrected when vehicle instability is detected or predicted; and to determine velocity magnitude values ​​based on sideslip angle parameter values ​​and the yaw rate values, wherein the velocity magnitude values ​​represent a movement velocity (M) of yaw rate (r) and sideslip angle (β) for the vehicle (10) within the phase portrait (100), and wherein the detection or prediction of vehicle instability is based at least on the phase portrait angles (θ) and the velocity magnitude values.

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