Method and device for estimating a transverse acceleration at an axle of a semitrailer or a trailer of a vehicle combination

摘要

A method for estimating a transverse acceleration at an axle of a trailer/semitrailer of a vehicle combination including the step of measuring or estimating the yaw velocity omegaZ of the towing vehicle, measuring or estimating the forward velocity vxZ of the towing vehicle, measuring or estimating an articulation angle DELTA&PSgr; between the towing vehicle and the trailer/semitrailer, particularly between a longitudinal axis xZ of the towing vehicle and a longitudinal axis zA of the trailer/semitrailer, and computationally correlating (or performing a relational operation on) the values omegaZ, vxZ and DELTA&PSgr; to obtain an estimated value of the transverse acceleration ayAA at the axle of the semitrailer/trailer.