Method for use in device for executing vehicle regulation method for regulating steering angle of vehicle, involves generating control variable with integral part for forming steering angle control signal, and control variable is calculated

摘要

The method involves generating a control variable with an integral part (U-i) for forming a steering angle control signal (U-x). The integral part corresponds to the control variable which is calculated by an integral control unit (2). The control variable with an integration control part is dependent on a control difference (Xd) which is added to another control variable.