VERFAHREN ZUM BESTIMMEN DER SCHRAEGLAUFWINKEL UND/ODER DER SEITENFUEHRUNGSKRAEFTE EINES GEBREMSTEN FAHRZEUGES

摘要

Described is a method of determining the oblique-motion angle alpha i of a braked vehicle and/or the lateral motion force FS acting on the vehicle. Starting with a simplified vehicle model, the required parameters are estimated from measured values of the wheel speeds VR1, the steering angle delta , the yaw rate sigma and the main-brake-cylinder pressure PHB2 or the wheel brake pressure Pi.