Mercedes-benz Aktiengesellschaft

Bernd Scharnowski

Gerd Eilert

Volker Maass

Reinhold Schob

An improved method is used to determine speed variation between wheels of different axles of a vehicle. The difference between the speeds of the rear wheels and the speeds of the front wheels is formed, and a correction is determined which compensates for the variations between the speeds of the front wheels and the rear wheels arising because of the vehicle geometry. The speed variation between the wheels of different axles of a vehicle is given by the difference plus the correction and, under particular driving conditions, which are characterized at least in that the acceleration of the rear wheels is below a threshold value at which there is no speed difference between the wheels of different axles because of drive slip, an adaptation of the correction takes place by determining the difference between the speeds of the rear wheels and the front wheels and by adapting the correction in such a way that the correction, under the particular driving conditions, is equal with respect to magnitude to the difference between the speeds of the rear wheels and the front wheels and exhibits a change of sign relative to this difference. In addition, or alternatively, in determining the correction, the vehicle transverse acceleration is taken into account by the magnitude of the correction becoming smaller with increasing transverse acceleration.

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Fellbach, Germany

Bernd Scharnowski