| 主权项 |
1. A method of controlling a vehicle (10) having at least two wheels on one axle, the at least two wheels defining a track width, the method comprising the following steps:
determining, during cornering through a bend, a difference between wheel speeds at a bend-inner wheel and at a bend-outer wheel on the one axle; measuring a lateral vehicle acceleration; determining an axle load by taking into account the lateral acceleration, the difference between the wheel speeds, and the track width, wherein the-axle load is a sum of loads acting on the at least two wheels of the one axle, outputting information representative of the axle load to a vehicle brake system, and operating the vehicle brake system by taking into account the axle load. |
