Apparatus for improving the driving behavior of a vehicle is provided. The vehicle has front and rear axles, each having a plurality of wheels. Each wheel has a brake. Sensor are provided for measuring the rotational speed of each wheel, the vehicle yaw rate and the vehicle lateral acceleration. An...http://www.google.com/patents/US5774821?utm_source=gb-gplus-sharePatent US5774821 - System for driving stability control
