Daimler Chrysler Ag

Dieter Hamann

Michael Reiner

Rudolf Maurath

Joachim Pressel

Imre Boros

For regulating the driving dynamics of a road vehicle, setpoints for the yaw rate {dot over (&PSgr;)} and the float angle &bgr; of the vehicle are generated continuously by evaluating a simulation computer implemented vehicle model. The simulation computer generates control signals for activating at least one wheel brake of the vehicle based on a comparison of the reference values {dot over (&PSgr;)},as a setpoint, and the actual values {dot over (&PSgr;)},of the yaw rate continuously recorded by a yaw rate sensor. The vehicle model is represented by a linear differential equation system of the form &lsqb;P&rsqb;&middot;({overscore ({dot over (X)})})&equals;&lsqb;Q&rsqb;&middot;({overscore (X)})&plus;({overscore (C)})&middot;&dgr;(t). The driving-dynamic state values &bgr;,(k&minus;1) and {dot over (&PSgr;)},(k&minus;1) are updated at a point in time t(k&minus;1), followed by a point in time t(k) that is later by a clock time interval T,, by evaluation of the system of equations

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Waiblingen, Germany

Dieter Hamann