| 摘要 |
PCT No. PCT/EP91/01841 Sec. 371 Date May 27, 1992 Sec. 102(e) Date May 27, 1992 PCT Filed Sep. 26, 1991 PCT Pub. No. WO92/05987 PCT Pub. Date Apr. 16, 1992.A method is described for determining the slip angles alpha i and/or the cornering forces FS of a braked vehicle. Starting from a simplified vehicle model and using the wheel speeds VRi, the steering angle beta , the yaw rate phi and the master brake cylinder pressure PHB2 or the wheel brake pressure Pi as measured variables, the desired variables are determined as estimated variables.
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