Method for estimating e.g. cross-wind forces acting on two-lane motor car, involves determining force depending on difference between measured yaw parameter and model value, and determining model value independent of lateral acceleration

摘要

The method involves measuring a yaw parameter characterized for a rotating movement of a vehicle at a vertical axis by a yaw rate sensor, and determining vehicle longitudinal velocity (V). A model value for the yaw parameter is determined (S2) depending on the vehicle longitudinal velocity from a yaw parameter model. A disturbance force is determined depending on a difference between the measured yaw parameter and the model value of the yaw parameter. The model value for the yaw parameter is determined independent of vehicle lateral acceleration. The yaw parameter is yaw rate, steering angle and/or yaw moment. An independent claim is also included for a control device.