Driving state variable estimating method for motor vehicle, involves using non-linear estimation algorithm e.g. sigma point based kalman filter, and mathematical vehicle model for estimating vehicle state variable

摘要

The method involves sensorily determining a driving state variable, and utilizing the driving state variable for evaluation of a non measured motor vehicle state condition. A non-linear estimation algorithm e.g. sigma point based kalman filter, and a mathematical vehicle model are used for estimating the vehicle state variable. A nonlinear tire model is provided in the mathematical vehicle model, and stationary and dynamic tire characteristics are considered in the tire model. An independent claim is also included for a method for regulating or controlling a driving state variable of a vehicle.