A lower limiting value of the yaw speed is calculated as a function of the steering angle, the vehicle speed, and the coefficient of friction between tires and road. If the yaw speed falls below the lower limiting value, the brake pressure is reduced in order to increase lateral stability....http://www.google.es/patents/US5332300?utm_source=gb-gplus-sharePatente US5332300 - Process for controlling the stability of vehicles
