Driving dynamics controlling method for vehicle i.e. car, involves computing reference yaw rate of vehicle, and computing reference speed by extended single track model, where model includes additional parameters and state variables

摘要

The method involves computing a reference yaw rate of a vehicle, and computing a reference speed by an extended single track model. The single track model includes additional parameters, state variables and parameters of a linear single track model. The parameters are limited with respect to their absolute value. One of the parameters lies within a range of values between 1.0 and 1.3, and the other parameter is computed from a formula, where the reference yaw rate is a measured value. The parameters are adapted to a current condition of a vehicle (1). An independent claim is also included for a device for controlling the driving dynamics of a vehicle.