CPC B60W 30/18145 (2013.01) [B60W 10/101 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/114 (2013.01); B60W 2050/0033 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2540/18 (2013.01)] | 20 Claims |
1. A method for determining a side slip angle of a motor vehicle, the method comprising:
detecting and linking input variables to each other via a mathematical vehicle model using a linear single-track model, wherein the input variables include:
a predetermined or measured position of a center of gravity of the motor vehicle between a front axle and a rear axle of the motor vehicle,
a vehicle velocity of the motor vehicle which is current,
a cornering motion variable of the motor vehicle which is current,
a steering angle on the front axle which is current,
determining, in a case of stable cornering of the motor vehicle, the side slip angle during a cornering maneuver of the motor vehicle under an acceptance that a difference between the side slip angle and an Ackermann side slip angle is proportional to a difference between an Ackermann angle and the steering angle, wherein the side slip angle is deduced from a relationship between the detected steering angle and the Ackermann angle based on a proportionality relationship of the Ackermann side slip angle which is theoretically present when driving through an identical curve without slip; and,
wherein the side slip angle is determined as a difference of a first quotient of twice a rear axle distance of the center of gravity from the rear axle divided by a radius of the curve, which is taken into account as a ratio of the vehicle velocity to the cornering motion variable, and a second quotient of the product of the steering angle and the rear axle distance divided by a wheelbase between the front axle and the rear axle.
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