METHOD FOR DETERMINING ANGULAR VELOCITY OF ADDITIONAL YAW OF WHEELS OF ROAD TRAIN Russian patent published in 2024 - IPC B60K28/16 B60W10/18 B60T8/1755 B60W40/101 

FIELD: driving aids.

SUBSTANCE: according to the method for determining the angular velocity of additional yaw of the wheels of a road train, wheel signals are recorded and processed on each side of both the vehicle and the trailer separately. The generated signals about wheel speeds are transmitted to the information processing blocks of the car and trailer subsystems of the driver assistance system of the road train, in which the longitudinal speeds of their centres of mass and the average angle of rotation of the steered wheels of the car and trailer are calculated in real time. Based on the signals and the adjustment parameters, the signs and the values of angular velocities of additional yaw are calculated as the values of the skidding speeds of the rear wheels of the car and trailer and/or the drift of the front wheels of the car and trailer, determining the values of the physical variables of the movement of the car and trailer separately, comparing them with the boundary values, characterizing their critical condition and indicating the dangerous conditions of the car and trailer separately.

EFFECT: improved reliability is achieved by preventing wheel drift or skidding and overturning of the road train.

1 cl, 3 dwg