Method for Compensating for Gradient Influence When Determining a Reference Velocity

摘要

Disclosed is a method and a computer program product for compensating for gradient influence when determining a reference velocity. The method includes determining a controller nominal torque (M_Rnominal) in a vehicle controller (1) from at least one actual wheel speed (v_wheel-actual) and one predefined nominal wheel speed (V_{wheel-nominal}), determining a feedback torque (M_feedback), which is proportional to an estimated roadway gradient ({dot over (ω)}_wheel−{dot over (ω)}_longit.), calculating an engine nominal torque (M_Mnominal) from the controller nominal torque (M_Rnominal) and the feedback torque (M_feedback), and sending the engine nominal torque (M_Mnominal) to a vehicle controlled system (2) for determining the actual wheel speed (v_wheel-actual) from the engine nominal torque (M_Mnominal).