| 摘要 |
For regulating the driving dynamics of a road vehicle, setpoints for the yaw rate {dot over (&PSgr;)} and the float angle beta of the vehicle are generated continuously by evaluating a simulation computer implemented vehicle model. The simulation computer generates control signals for activating at least one wheel brake of the vehicle based on a comparison of the reference values {dot over (&PSgr;)}SO as a setpoint, and the actual values {dot over (&PSgr;)}I of the yaw rate continuously recorded by a yaw rate sensor. The vehicle model is represented by a linear differential equation system of the form [P].({overscore ({dot over (X)})})=[Q].({overscore (X)})+({overscore (C)}).delta(t). The driving-dynamic state values betaZ(k-1) and {dot over (&PSgr;)}Z(k-1) are updated at a point in time t(k-1), followed by a point in time t(k) that is later by a clock time interval TK, by evaluation of the system of equationswith the values of the matrix elements pij and qij updated for that point in time TK.
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