
{"publication_number": "US-2009271073-A1", "abstract": "a yaw stability control system for a vehicle detects and eliminates the vehicle yaw angle resulting from a body - force - disturbance and returns the vehicle to a pre disturbance heading . a yaw rate module generates a signal indicative of the vehicle yaw rate error . a yaw angle error module is triggered in response to a body - force - disturbance being detected by a body - force - disturbance detection unit , and performs integrations of the yaw rate signals to calculate a yaw angle error in order to obtain a correction of the vehicle yaw angle resulting from the body - force - disturbance . a yaw control module uses the yaw angle error in combination with the yaw rate error for a limited time period to generate yaw control signals that are sent to the vehicle brakes and / or active steering system for performing vehicle yaw stability control operations a signal to perform a body - force - disturbance yaw stability control operation for .", "application_number": "US-42878809-A", "description": "fig1 illustrates a yaw stability control system and method of operation that is responsive to a yaw rate error , here shown as having a yaw rate proportional module 2 and a yaw rate derivative module 3 . the yaw rate error signal { dot over ( \u03c8 )