Method for determining reference curve slope and steering angle correction value of motor vehicle, involves calculating actual reference curve slope and modified actual reference curve slope, and determining steering angle correction value

摘要

The method (1) involves determining (S1) an actual lateral acceleration (a-y) of the motor vehicle depending on a current speed (v-x) of the motor vehicle from the sensor data provided by a non-optical sensor (18) and from an actual road curve (K) of the curved road section determined by an optical detection system (2). The actual reference curve slope (w-a-y) for the motor vehicle is calculated (S2) from the determined actual lateral acceleration. The modified actual reference curve slope (w-g-v-x,w-g-a-y) is calculated (S3). The modified actual reference curve slope (w-g-v-x,w-g-a-y) is calculated by weighing the reference curve slope with a speed-dependent reference curve slope weighing factor (G-v-x). The steering angle correction value (gamma) for the motor vehicle is determined (S4) depending on the modified actual reference curve slope and the actual road curve. An independent claim is included for a motor vehicle with a control device, an optical detection system and a non-optical sensor.