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1. 发明公开

KR1020040096699A 차량의 에이지씨에스 및 이에스피 통합 조절방법 失效
标题翻译：用于决定低/高摩擦判断单元的道路表面摩擦力的车辆和车辆的联合控制方法
公开(公告)号：KR1020040096699A
公开(公告)日：2004-11-17
申请号：KR1020030029595
申请日：2003-05-10
申请人： 주식회사 한라홀딩스
发明人： 고유석
IPC分类号： B60T8/58
CPC分类号： B60T8/1764 , B60T8/1763 , B60T2210/10 , B60T2210/124 , B60T2270/30 , B60Y2300/0223 , B60Y2300/0227
摘要： PURPOSE: A united control method for an AGCS(Active Geometry Control Suspension) and an ESP(Electric Stability Program) of a vehicle is provided to regulate optimally a driving condition according to the road surface by driving the AGCS on the road with high friction and operating the ESP on the road with low friction. CONSTITUTION: A united control method for an AGCS and an ESP of a vehicle is composed of steps for deciding low/high frictional force by an acceleration signal generated as the vehicle inclines toward the side and supplied from a transverse sensor of the vehicle and a vehicle speed signal supplied from a wheel sensor(201); estimating a lateral acceleration value by the vehicle speed and a steering angle signal provided from a steering angle speed sensor by driving an AGCS toe control unit if for high frictional force(202¯205); determining the steering direction of an actuator by the estimated lateral acceleration signal and a steering angle signal supplied from the steering angle sensor and then supplying a stroke control value by deciding the roughness of a road surface(206); and controlling accurately stroke according to the stroke control value(207).
摘要翻译：目的：提供一种用于车辆的AGCS（主动几何控制悬架）和ESP（电动稳定程序）的联合控制方法，以通过在道路上驱动高摩擦的AGCS来最佳地调节根据路面的驾驶状况，在低摩擦的道路上操作ESP。构成：用于车辆的AGCS和ESP的联合控制方法包括以下步骤：当车辆向车辆倾斜并从车辆的横向传感器和车辆提供时产生的加速度信号来确定低/高摩擦力从车轮传感器（201）提供的速度信号; 如果是高摩擦力，则通过驱动AGCS脚趾控制单元来估计来自转向角速度传感器的车速和转向角信号的横向加速度值（202〜205）; 通过估计的横向加速度信号和从转向角传感器提供的转向角信号来确定致动器的转向方向，然后通过确定路面的粗糙度来提供行程控制值（206）; 并且根据行程控制值（207）精确地控制行程。

2. 发明公开

KR1020170072935A 전기 자동차, 전기 자동차의 능동적 안전 제어 시스템, 전기 자동차의 능동적 안전 제어 시스템을 위한 제어 방법 및 모터 제어기 审中-实审
标题翻译：电动汽车，电动汽车主动安全控制系统，电动汽车主动安全控制系统控制方法，电动机控制器
公开(公告)号：KR1020170072935A
公开(公告)日：2017-06-27
申请号：KR1020177013840
申请日：2015-12-16
申请人： 비와이디 컴퍼니 리미티드
发明人： 리안,위보 , 루오,홍빈 , 장,진타오 , 양,동셩 , 뤼,하이준
IPC分类号： B60L3/00 , B60L15/20
CPC分类号： B60L3/102 , B60K17/356 , B60L3/00 , B60L3/106 , B60L3/12 , B60L11/1851 , B60L15/20 , B60L15/36 , B60W10/08 , B60W10/184 , B60W10/192 , B60W30/02 , B60W30/18145 , B60W30/18172 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/28 , B60W2540/18 , B60W2710/08 , B60W2710/083 , B60W2710/18 , B60W2720/14 , B60W2720/20 , B60Y2200/91 , Y02T10/7258 , B60L2240/22 , B60L2240/24 , B60L2240/461 , B60Y2300/0223 , B60Y2300/0227 , B60Y2400/3032 , B60Y2400/304
摘要： 본발명은전기자동차, 전기자동차를위한능동적안전제어시스템및 전기자동차를위한능동적안전제어시스템의제어방법을개시한다. 전기자동차는복수의휠, 복수의휠에각각대응하는복수의모터, 휠속도신호를생성하는휠 속도검출모듈, 전기자동차의방향정보를검출하는스티어링휠 회전각센서, 전기자동차의요 정보를검출하는요 레이트센서를포함한다. 능동적안전제어시스템은휠 속도신호, 전기자동차의방향정보, 전기자동차의요 정보, 배터리팩의상태정보, 및복수의모터의상태정보를획득하는획득모듈, 전기자동차의상태를결정하는상태결정모듈, 및제어명령을생성하고적어도하나의모터에제어명령을전달함으로써전기자동차에사이드슬립이발생하고사이드슬립한계간격으로진입하려고할 때, 적어도하나의모터가적어도하나의대응하는휠에대하여구동제어를수행하도록하고, 전기자동차가사이드슬립한계간격에있을때 적어도하나의모터가적어도하나의대응하는휠에대하여제동제어를수행하도록하는제어모듈을포함한다.
摘要翻译：本发明公开了一种用于电动车辆的主动安全控制系统，电动车辆以及用于电动车辆的主动安全控制系统的控制方法。电动车辆检测对应多个马达，产生车轮速度信号车轮速度检测模块的偏航信息，方向盘，用于检测方向信息用于电动车辆中，旋转角度传感器，电动车辆的多个车轮，多个车轮的偏航率传感器。主动安全控制系统状态确定模块，用于确定所述车轮速度信号，电动车辆的方向信息，申请的电动车辆的偏航信息的状态信息，电池组，以及用于获取所述多个电机的状态信息获取模块的状态下，电动车辆生成，和控制命令，以及至少一个试图侧滑通过发送控制命令给马达在电动车辆发生并进入侧滑极限间隔的情况下，在相应的车轮中的至少一个的至少一个驱动控制的马达并且在电动车辆处于侧滑限制区间时使至少一个电动机对至少一个对应的车轮执行制动控制。

3. 发明公开

KR1020030008038A 차량의 안정성 제어시스템 有权
标题翻译：控制车辆稳定性的系统
公开(公告)号：KR1020030008038A
公开(公告)日：2003-01-24
申请号：KR1020010041841
申请日：2001-07-12
申请人： 주식회사 한라홀딩스
发明人： 김동신
IPC分类号： B60T8/58
CPC分类号： B60T8/1755 , B60T8/171 , B60T8/175 , B60T8/176 , B60T2270/10 , B60Y2300/0223 , B60Y2300/0227
摘要： PURPOSE: A stability control system of a vehicle is provided to secure the stability of the vehicle by controlling the braking force and the driving force of an engine with an ABS(Anti-lock Brake System) and TCS(Traction Control System). CONSTITUTION: A measuring unit(101) contains sensors to measure a speed, a steering angle, a yaw rate, a horizontal acceleration and a brake pressure and processes measured signal from the sensors. An estimating unit(102) estimates a friction coefficient between a road surface and a tire and a slid slip angle of a vehicle by the measured signals. A momentum operating unit(103) calculates an actual momentum of the vehicle by the measured values and the estimated value. A stability criterion setting unit(104) sets a stability criterion as the yaw rate to follow a wanted driving trace by the vehicle. A comparing unit(105) outputs a corresponding signal by comparing the momentum with the stability criterion. A deciding unit(106) decides ranges of a plow and a spin-out based on the signal from the comparing unit and outputs the decided signal to a braking pressure/engine controlling unit(107) and a braking pressure controlling unit(108). The braking pressure/engine controlling unit controls the driving force of an engine with a TCS control block(109). The braking pressure controlling unit controls the braking force with an ABS control block(110). Thereby, the fine stability of the vehicle is secured.
摘要翻译：目的：提供一种车辆的稳定性控制系统，通过ABS（防抱死制动系统）和TCS（牵引力控制系统）控制发动机的制动力和驱动力来确保车辆的稳定性。构成：测量单元（101）包含用于测量速度，转向角，偏航角速度，水平加速度和制动压力的传感器，并处理来自传感器的测量信号。估计单元（102）通过测量的信号来估计路面和轮胎之间的摩擦系数和车辆的滑动滑移角。动量运算单元（103）根据测量值和估计值计算车辆的实际动量。稳定性标准设定单元（104）将稳定性标准设定为随车辆所要求的行驶轨迹的横摆率。比较单元（105）通过将动量与稳定性标准进行比较来输出相应的信号。决定单元（106）基于来自比较单元的信号确定犁和旋转的范围，并将决定的信号输出到制动压力/发动机控制单元（107）和制动压力控制单元（108）。制动压力/发动机控制单元利用TCS控制块（109）来控制发动机的驱动力。制动压力控制单元利用ABS控制块（110）来控制制动力。从而确保了车辆的细微稳定性。

4. 发明公开

KR1020080034371A 판스프링 지오메트리를 이용한 자동차용 현가장치의조종특성 제어장치 有权
标题翻译：使用叶片弹簧几何的汽车悬架的转向控制单元
公开(公告)号：KR1020080034371A
公开(公告)日：2008-04-21
申请号：KR1020060100520
申请日：2006-10-16
申请人： 현대자동차주식회사
发明人： 김상윤
IPC分类号： B60G17/016 , B60G17/015 , B60G17/00 , B62D15/00
CPC分类号： B60G17/016 , B60G11/02 , B60G17/018 , B60G17/019 , B60G2202/43 , B60G2204/4192 , B60G2400/052 , B60G2800/246 , B60Y2300/0227 , F16H19/04
摘要： A steering control device of a suspension for a vehicle using leaf spring geometry is provided to allow the position of the eye in the leaf spring to be actively changed by a variation of steering method, maximize stability and handle the vehicle. A steering control device of a suspension for a vehicle using leaf spring geometry comprises a sensor section for detecting a variation of angular velocity for a steering wheel, a driving section mounted on left and right chassis, and a control section for varying steering features according to the tastes of drivers. The driving section includes a pair of discs(21), a driving shaft(22), and an actuator. The pair of discs is eccentric to front eyes(3) of left and right eyes of a leaf spring assembly. The driving shaft allows a spring pin(5) of the front eye to be eccentrically rotated about the center of the eye.
摘要翻译：提供一种用于使用板簧几何形状的车辆悬架的转向控制装置，以通过转向方法的变化来主动地改变板簧中的眼睛的位置，使稳定性最大化并且处理车辆。用于使用板簧几何形状的车辆的悬架的转向控制装置包括用于检测方向盘的角速度的变化的传感器部分，安装在左右底盘上的驱动部分，以及用于根据司机的口味。驱动部分包括一对盘（21），驱动轴（22）和致动器。一对光盘对于板簧组件的左眼和右眼的前眼（3）是偏心的。驱动轴允许前眼的弹簧销（5）围绕眼睛的中心偏心旋转。

5. 发明公开

KR1020070063846A 선회 언더스티어 유도형 차량용 리어 현가장치 无效
标题翻译：后悬架用于诱导车辆转向
公开(公告)号：KR1020070063846A
公开(公告)日：2007-06-20
申请号：KR1020050124102
申请日：2005-12-15
申请人： 현대모비스 주식회사
发明人： 김근배 , 이택재
IPC分类号： B60G7/02
CPC分类号： B60G21/051 , B60G21/052 , B60G2200/462 , B60G2206/8207 , B60Y2300/0227
摘要： A motor vehicle rear suspension system for inducing understeer while cornering is provided to keep vehicle cornering stability and ride comfort at an optimum level by generating toe-in compulsorily and inducing understeer while cornering. The motor vehicle rear suspension system for inducing understeer while cornering contains primary and secondary assembling members(3,4) bolted with a torsion beam(1) having a V-shaped cross section inserted by primary and secondary fixed ends(3a,4a) which are overlapped with each other in a lozenge shape to cover a trailing arm(2) having a closed rectangular cross section, and a compulsory toe-in generator(5) coupled on the primary and secondary fixed ends of the primary and secondary assembling members by hinge pins(h) to pull the bush portion of the trailing arm toward the primary and secondary assembling members to induce toe-in of a wheel.
摘要翻译：提供用于在转弯时引起转向不足转向的机动车后悬架系统，以通过在转弯期间强制产生脚趾并引起转向不足而将车辆转弯稳定性和乘坐舒适度保持在最佳水平。用于在转弯期间引起转向不足的机动车辆后悬架系统包括用具有V形横截面的扭力梁（1）螺栓连接的主组件和辅助组件（3,4），所述扭矩梁（1）由主和次固定端（3a，4a）插入，以菱形形状彼此重叠以覆盖具有封闭的矩形横截面的拖臂（2），以及强制脚趾发生器（5），其通过主要和次要组装构件的主固定端和辅固定端联接，铰链销（h）将牵引臂的衬套部分朝着初级和次级组装构件拉动以引起车轮的入口。

6. 发明公开

KR1020040091487A 차량의 주행 안정성 제어방법 有权
标题翻译：车辆行驶稳定性控制方法，用于提高车辆转向效率
公开(公告)号：KR1020040091487A
公开(公告)日：2004-10-28
申请号：KR1020030025570
申请日：2003-04-22
申请人： 주식회사 한라홀딩스
发明人： 김동신
IPC分类号： B60T8/58
CPC分类号： B60T8/1755 , B60T8/1763 , B60T2250/04 , B60Y2300/0223 , B60Y2300/0227 , B60Y2400/303
摘要： PURPOSE: A traveling stability control method of a vehicle is provided to estimate exactly turning speed that a driver wants and to secure the traveling stability of the vehicle by controlling brake power and engine-driving power together for following a trace of an actual vehicle along a trace formed by the turning speed. CONSTITUTION: A traveling stability control method of a vehicle is composed of steps for setting turning speed of the vehicle that a driver wants, corresponding to a road surface by using the steering angle and reference speed of the vehicle in turning(S100); limiting the set turning speed from the steering angle and reference vehicle speed; deciding an application time of the limited turning speed by difference between a measured lateral acceleration and a lateral acceleration that the driver wants, steering angle speed, and the measured lateral acceleration; deciding a traveling road surface of the vehicle by using the reference vehicle speed, difference between the set turning speed on a pre-set reference road surface and the measured turning speed, and the lateral and longitudinal acceleration(S200); deciding the turning vehicle speed for a driver's desire set to correspond to the decided traveling road surface as the reference turning speed and determining if an under-steer or an over-steer by comparing the decided reference turning speed and a actual turning speed measured from a turning speed sensor(S300,S400); and controlling braking and driving power according to the under-steer/over-steer(S500).
摘要翻译：目的：提供一种车辆的行驶稳定性控制方法，用于估计驾驶员想要的精确转速，并通过一起控制制动力和发动机驱动力来确保车辆的行驶稳定性，以跟踪沿着实际车辆的踪迹痕迹由转速形成。构成：车辆的行驶稳定性控制方法包括通过使用车辆的转向角度和基准速度来对应于路面而设定驾驶员要求的车辆的转弯速度的步骤（S100）。限制设定转弯速度与转向角和参考车速; 通过所测量的横向加速度和驾驶员需要的横向加速度，转向角速度和所测量的横向加速度之间的差来决定限制转弯速度的施加时间; 通过使用参考车速，预设参考路面上的设定转弯速度与所测量的车速之间的差，以及横向和纵向加速度来决定车辆的行驶路面（S200）; 根据所确定的行驶路面确定驾驶员期望的转弯车速作为基准转弯速度，并且通过比较所确定的参考转弯速度和从所述行驶路线测量的实际转弯速度来确定是否处于转向过低或过转向转速传感器（S300，S400）; 并根据转向/过转向控制制动和驱动功率（S500）。

7. 发明公开

KR1020140062355A 인휠모터 전기자동차의 제어장치 및 방법 有权
标题翻译：用于在车轮电动车辆中控制的装置及其方法
公开(公告)号：KR1020140062355A
公开(公告)日：2014-05-23
申请号：KR1020120129021
申请日：2012-11-14
申请人： 현대자동차주식회사
发明人： 김형진
IPC分类号： B60L11/18
CPC分类号： Y02T10/7005 , Y02T10/7241 , B60L15/20 , B60K7/0007 , B60L7/18 , B60L2240/423 , B60L2250/26 , B60Y2200/91 , B60Y2300/0223 , B60Y2300/0227 , B60Y2400/30
摘要： Disclosed in the present invention is a control method for an in-wheel motor electric vehicle capable of stably controlling behaviors by distributing driving power and regenerative braking power according to the torque difference between the in-wheel motors of the left and the right rear wheel in case turning by a steering wheel cannot follow a target track. The present invention includes: a step of determining whether the behavior of a vehicle is constant-velocity driving, deceleration driving, or acceleration driving by analyzing the operation of an acceleration pedal and a brake pedal; a step of, if the behavior of a vehicle is constant-velocity driving, determining that turning of the vehicle is following a target track and uniformly distributing driving power torque and regenerative braking power torque to the inside-turning in-wheel motor and the outside-turning in-wheel motor; a step of, if the behavior of the vehicle is acceleration driving, determining that the vehicle is under-steered and thus not following the target track, controlling the in-wheel motor of the outside-turning rear wheel using driving power and controlling the in-wheel motor of the inside-turning rear wheel using regenerative braking power; and a step of, if the behavior of the vehicle is deceleration driving, determining that the vehicle is over-steered and thus not following the target track, controlling the in-wheel motor of the outside-turning rear wheel using regenerative braking power and controlling the in-wheel motor of the inside-turning rear wheel using driving power.
摘要翻译：在本发明中公开了一种能够通过根据左后轮的轮电机之间的转矩差分配驱动力和再生制动力来稳定地控制行为的车轮电动车辆的控制方法，由方向盘转动的情况不能跟随目标轨道。本发明包括：通过分析加速踏板和制动踏板的操作来确定车辆行为是否为恒速行驶，减速行驶或加速行驶的步骤; 如果车辆的行为是恒速驱动，则确定车辆的转弯跟随目标轨迹并且将驱动力矩和再生制动力矩转矩均匀地分配到车轮内转向马达和外部转动轮毂电机; 如果车辆的行为是加速驱动，则判定车辆是否被转向并因此不跟随目标轨道，则使用驱动力控制外转向后轮的轮内电动机，并且控制使用再生制动功率的内侧后轮的车轮马达; 以及如果所述车辆的行为是减速驱动，则确定所述车辆是过度转向并且因此不跟随所述目标轨迹，则使用再生制动力来控制所述外转向后轮的轮电机，并且控制使用驱动力的内翻车轮的轮内电动机。

8. 发明公开

KR1020080044536A 차량의 자세 제어장치 및 방법 无效
标题翻译：车辆的位置控制系统及其方法
公开(公告)号：KR1020080044536A
公开(公告)日：2008-05-21
申请号：KR1020060113498
申请日：2006-11-16
申请人： 현대자동차주식회사
发明人： 조정식
IPC分类号： B60G17/015 , B60G17/016 , B60G17/00
CPC分类号： B60G17/015 , B60G17/019 , B60G2204/113 , B60G2800/01 , B60G2800/244 , B60G2800/246 , B60G2800/704 , B60G2800/984 , B60Y2300/0223 , B60Y2300/0227 , B60Y2400/304
摘要： A pose control device of a vehicle is provided to predict dynamic characteristics of the vehicle according to deformed amount of a ground-contacting surface of tires, and to control characteristics of a suspension. A pose control device of a vehicle comprises an ignition detecting unit(10), a speed change shift detecting unit(20), an acceleration detecting unit(30), a suspension(60), a tire pressure detecting device(40) and a control unit(50). The ignition detecting unit outputs information of contacts selected by an ignition key. The speed change shift detecting unit outputs range information of the speed change shift selected by a shift lever. The acceleration detecting unit is mounted in a predetermined position of the suspension, and detects load transfer and acceleration of the load transfer of a vehicle frame. The suspension controls damping force so as to control pose of the vehicle. The tire pressure detecting device detects pressure of each tire and outputs pressure information. The control unit predicts dynamic characteristics of the vehicle according to deformed amount of a ground-contacting surface of tires, and controls the damping force of each suspension.
摘要翻译：提供一种车辆的姿态控制装置，用于根据轮胎的地面接触表面的变形量预测车辆的动态特性，并且控制悬架的特性。车辆的姿势控制装置包括点火检测单元（10），变速换档检测单元（20），加速度检测单元（30），悬架（60），轮胎压力检测装置（40）和控制单元（50）。点火检测单元输出由点火钥匙选择的触点的信息。变速换档检测单元输出由变速杆选择的变速档位的范围信息。加速度检测单元安装在悬架的预定位置，并且检测车架的载荷传递的载荷传递和加速。悬架控制阻尼力，以便控制车辆的姿态。轮胎压力检测装置检测各轮胎的压力并输出压力信息。控制单元根据轮胎的地面接触面的变形量预测车辆的动态特性，并控制各悬架的阻尼力。

9. 发明公开

KR1020060018022A 차량의 토우 링크 콘트롤장치 无效
标题翻译：车辆链接控制装置
公开(公告)号：KR1020060018022A
公开(公告)日：2006-02-28
申请号：KR1020040066345
申请日：2004-08-23
申请人： 현대자동차주식회사
发明人： 우승훈
IPC分类号： B60G17/015 , B62D17/00
CPC分类号： B60G17/016 , B60G17/018 , B60G2200/462 , B60G2202/122 , B60G2206/012 , B60G2400/204 , B60G2400/41 , B60G2600/26 , B60G2800/246 , B60Y2300/0227 , B62D17/00
摘要： 본 발명은 차량의 토우 링크 콘트롤장치에 관한 것으로, 휠측 조인트점(D)을 중심으로 차체측 조인트점(A)이 회전을 하는 토우 링크(3)의 회전반경(R)과 동일한 곡률을 갖도록 형성되면서 차체측으로 고정 설치되는 유압실린더(11)와, 상기 유압실린더(11)를 따라 왕복 이동할 수 있도록 일단이 상기 토우 링크(3)의 차체측 조인트점(A)과 결합되는 피스톤(13)과, 상기 유압실린더(11)내에서 상기 피스톤(13)을 지지할 수 있도록 설치되는 인장스프링(15)과, 일단은 상기 유압실린더(11)와 연결되고 타단은 동력조향장치의 작동유로 사용되는 오일을 공급받을 수 있도록 오일공급튜브(37)와 연결되도록 설치되는 오일공급 파이프(17)와, 일단은 상기 유압실린더(11)와 연결되고 타단은 동력조향장치를 구성하는 오일저장탱크(31)와 연결되도록 설치되는 오일리턴 파이프 (19)와, 상기 오일리턴 파이프(19)상에 설치되는 솔레노이드밸브(21)와, 차속센서(23) 및 조향각센서(25)로부터 신호를 전달받아 상기 솔레노이드밸브(21)의 작동을 제어하는 콘트롤러(27)로 구성되어져, 토우 링크(4)의 차체측 조인트점(A)을 상하로 이동시킴에 있어서 캠버와 토우 및 트레드의 변화가 거의 없이 안정적으로 순수한 범프 토우 인을 증가시킬 수 있게 됨으로써 선회시에 보다 안정적으로 언더 스티어를 형성할 수 있도록 된 것이다.

10. 发明公开

KR1020050033877A 차량용 제동장치 및 그 제어방법 无效
标题翻译：用于控制车辆中的制动压力的装置和方法
公开(公告)号：KR1020050033877A
公开(公告)日：2005-04-14
申请号：KR1020030069403
申请日：2003-10-07
申请人： 주식회사 한라홀딩스
发明人： 이한주
IPC分类号： B60T8/26
CPC分类号： B60T8/26 , B60T8/246 , B60Y2300/0223 , B60Y2300/0227
摘要： A braking device of a vehicle and a control method thereof are provided to improve steering and driving stability while turning with braking by increasing an outward moment enough but not excessively through differentiating the braking forces between a front outer wheel and a back outer wheel in an over-steered condition while turning with braking and by increasing an inward moment enough but not excessively through differentiating the braking forces between a back inner wheel and a front inner wheel in an under-steered condition while turning with braking. A braking device of a vehicle controls the same side of wheels while either over-steering or under-steering depending on a deviation between an actual turning degree of the vehicle and a turning degree desired by a driver while turning with braking. The braking device comprises a braking pressure adjustor(60) providing the braking force to each wheel; and a control unit(50) controlling the braking pressure adjustor to lower the braking force of a back outer wheel than one of a front outer wheel in an over-steered condition for generating a compensation moment outward the turning and to lower the braking force of a front inner wheel than one of a back inner wheel in an under-steered condition for generating another compensation moment inward the turning.
摘要翻译：提供了一种车辆的制动装置及其控制方法，以通过在前轮外轮和后外轮之间的制动力的区分来增大向外的力矩而不是过度地通过制动而转动而提高转向和驾驶的稳定性在制动时转动时，通过在转向转动的同时，通过在转向后的状态下区分后内轮和前内轮之间的制动力而增加内向力矩而不是过度地转向。车辆的制动装置根据车辆的实际转动角度与驾驶员在制动转动期间所需的转向程度之间的偏差而控制车轮的同一侧，同时过转向或转向不足。制动装置包括制动压力调节器（60），其向每个车轮提供制动力; 以及控制单元（50），其控制制动压力调节器以降低后外轮的制动力，所述制动力在过转向条件下的前外轮之一产生补偿力矩向外转动，并降低制动力的制动力前内轮比在转向不足的后轮内轮之一产生前轮内轮，用于在车内产生另一补偿力矩。

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