The invention relates to a method (1) for determining a driving state variable (2) of a vehicle (9) that is not directly measurable by means of control devices, each having at least one computing device (3), a sensor device (6) and an actuator device (5), wherein in a first step, the sensor device (6) reads in the following data and transmits the data to the computing device (3): a wheel speed of each wheel (13); -a steering angle of the vehicle (9); -a yaw angle rate; -a lane longitudinal inclination of the vehicle (9), and; -a lane lateral inclination of the vehicle (9); wherein, in a subsequent step, the driving state variable (2) is calculated by the calculation device (3) by means of a calculation model, such that further driving variables that are difficult to measure or cannot be directly measured can be ascertained on the basis of the calculated driving state variable (2), and wherein, in a subsequent step, the driving state variable (2) can be ascertained on the basis of the calculated driving state variable (2). The calculation device (3) transmits the calculated driving state variable (2) and the determined driving variable to the actuator device (5) in such a way that the vehicle (9) can be advantageously controlled open-loop and/or closed-loop depending on the driving state variable and the driving variable, characterized in that the calculation model comprises a vehicle model (8), a tire model (11) and a wheel suspension model (10), and the vehicle model, the tire model and the wheel suspension model are solved together in a computing device (3) according to the following differential system of equations: # imgabs0 #

    本发明涉及一种用于借助控制装置求取车辆(9)的不可直接测量的行驶状态变量(2)的方法(1),其中控制装置分别具有至少一个计算装置(3)、传感器装置(6)以及执行器装置(5),其中在第一步骤中由传感器装置(6)读入以下数据并且传输给计算装置(3):‑每个车轮(13)的车轮转速;‑车辆(9)的转向角度;‑偏航角率;‑车辆(9)的车道纵向倾斜度,以及;‑车辆(9)的车道横向倾斜度;其中在随后的步骤中,由计算装置(3)借助于计算模型计算行驶状态变量(2),使得可以根据所计算的行驶状态变量(2)求取难测量或不可直接测量的其他行驶变量,并且其中在随后的步骤中,计算装置(3)将所计算的行驶状态变量(2)和所求取的行驶变量传送给执行器装置(5),使得可以根据行驶状态变量和行驶变量有利地对车辆(9)进行开环控制和/或闭环控制,其特征在于,计算模型包括车辆模型(8)、轮胎模型(11)以及车轮悬架模型(10),并且所述车辆模型、所述轮胎模型和所述车轮悬架模型在计算装置(3)中根据以下微分方程系一起求解:#imgabs0#


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    Title :

    Method for determining driving state variable of vehicle that cannot be measured directly


    Additional title:

    用于求取车辆的不可直接测量的行驶状态变量的方法


    Contributors:

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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