Control procedures for regulating the stability of a vehicle

Abstract

The present invention relates to a control method for regulating the stability of a vehicle (100) with at least two electric drive motors (120) for two different wheels (112) of at least one drive axle (110) during cornering of the vehicle (100), characterized by the following steps: − Determining the actual speed (ILV) of the vehicle (100) along the longitudinal axis (X), − Determining the actual lateral acceleration (IQA) of the vehicle (100) along the transverse direction (Y), − Determining the actual yaw rate (IGR) about the vertical axis (Z), − Determining an expected target yaw rate (SGR) about the vertical axis (Z) from the determined actual speed (ILV) and the determined actual lateral acceleration (IQA), − Determining a yaw rate difference (GRD) between the Target yaw rate (SGR) and actual yaw rate (IGR),− Adjusting the drive torque (AM) of at least one drive motor (120) of at least one drive axle (110) based on the determined yaw rate difference (GRD).