6.22.3. Principle of work of the ABS system with function of stabilization of a trajectory

Optimum parameters are calculated constantly on the basis of measurements of speed of rotation of wheels and an angle of rotation of a steering wheel. These parameters reflect optimum behavior of the car in the road.
They are compared to actual parameters of the movement of the car on the basis of measurements of speed of angular and cross accelerations.
At detection of a deviation of a real trajectory from optimum the corresponding wheel is applied brakes partially. In certain cases at insufficient controllability the system applies brakes partially at the same time both wheels. The moment of forces created thus returns the car on an optimum trajectory.
In certain cases the system (at involvement of protivobuksovochny function) changes torque of the engine.