Method and system for determining a rack force, operating assistance method for a working device, operation assistance device and working device

摘要

To determine the most reliable value (Z) possible for a rack-and-pinion force (FZST), a method (S) is proposed for determining the value (Z) of the rack-and-pinion force (F) of a steering system (15) of a working device (10 ') or of a vehicle (10 ) comprising the steps of providing (S1) a set of rack force models (Mi), detecting (S2) operating parameters and in particular driving parameters (Fj) of the underlying working device (10 ') or of the vehicle (10), feeding (S3) from operating parameters or driving parameters (Fj) to a plurality of the rack force models (Mi), determining (S4) a value (Zi) for the rack force (F) from a respective rack power model (Mi), evaluating (S5) the values (Zi) for the Rack force (F) and determining (S6) and providing (S7) a combined resultant value as the rack force value (Z) (F) (a) on the basis of the rack force (F) values (Zi) from the rack and pinion ft models (Mi) and (b) based on a result of the evaluation (S5).