| 摘要 |
A method for establishing the angular position of the vehicle with the aid of at least one roll or rotation rate sensor, and which is checked in the course of a plausibility inspection, to check whether the integrated rotation rate signal is able to reproduce the actual angular position of the vehicle at all or whether it lies outside the angular range which may be considered for the actual angular position of the vehicle on the basis of the driving situation. In particular, the method for establishing the angular position of the vehicle relative to at least one rotational axis, particularly its longitudinal axis and/or its transverse axis, in which the rotation rate of the vehicle about the rotational axis is detected using at least one rotation rate sensor and the angular position, particularly the roll angle about the longitudinal axis of the vehicle and/or the pitch angle about the transverse axis of the vehicle, is established by integration of the detected rotation rate, with the offset error of the rotation rate sensor being taken into consideration, in addition to the rotation rate, the transverse acceleration (that is, the acceleration of the vehicle transverse to the rotational axis) is detected, and is then checked, with reference to the dependence of the actual angular position of the vehicle on the transverse acceleration AQ, to determine whether the established angular position may correspond to the actual angular position of the vehicle. |
