| 摘要 |
The invention relates to a method for determining the actual yaw rate and the actual slip angle of a land vehicle and to a device for carrying out said method. According to said method, a slip angle characteristic is first determined with the aid of a driving condition sensor system (FZS), a yaw rate sensor (GRS) and a position determination system (PBS). If the slip angle characteristic remains below a threshold value, the actual yaw angle is adjusted to match the actual speed vector angle, which has been determined with the aid of the position determination system. If the slip angle characteristic exceeds a specific threshold value, the actual yaw angle is determined by a continuous value integration with the aid of sensor values from the yaw rate sensor and the slip angle is calculated as the difference between the yaw angle and the speed vector angle. The invention permits the slip angle of the vehicle to be reliably determined with sufficient accuracy, without the need for additional sensors, such as e.g. a second position determination system or lane identification, if the values of said slip angle increase over several seconds. At the same time, the yaw angle of the vehicle is reliably determined over long periods of time and the deviations in the values that occur in the integrating methods are adjusted at frequent intervals. |
