Method and device for ascertaining a dynamic tire circumference of a means of transportation

A device for ascertaining a dynamic tire circumference of a transportation vehicle, comprising:

• an evaluation unit;
• a data input;
• and
• a data output;
• wherein the evaluation unit is configured to:
• compute a dynamic track width of the transportation vehicle using a first instance of a first output signal of a first Kalman filter;
• receive, in conjunction with the data input, a first signal representing a yaw rate of the transportation vehicle, a second signal representing a wheel speed of a wheel of the transportation vehicle, a third signal representing a steering angle of the transportation vehicle, and a fourth signal representing the computed dynamic track width of the transportation vehicle;
• ascertain another instance of the first output signal of the first Kalman filter that represents the dynamic tire circumference of the wheel, using the first signal, the second signal, the third signal, and the fourth signal, as input signals for the first Kalman filter;
• and
• use, in conjunction with the data output, the first output signal in a control unit of the transportation vehicle.

A method for ascertaining a dynamic track width of a transportation vehicle, the method comprising the following steps:

• receiving a first signal representing a yaw rate of the transportation vehicle, a second signal representing a wheel speed of a wheel of the transportation vehicle, a third signal representing a steering angle of the transportation vehicle, and a fourth signal representing a dynamic tire circumference of the wheel of the transportation vehicle;
• ascertaining a first output signal of a first Kalman filter that represents the dynamic track width, using the first signal, the second signal, the third signal, and the fourth signal as input signals for the first Kalman filter;
• and
• using the first output signal in a control unit of the transportation vehicle.

A device for ascertaining a dynamic track width of a transportation vehicle, the device comprising:

• an evaluation unit;
• a data input;
• and
• a data output;
• wherein the evaluation unit is configured to:
• receive, in conjunction with the data input, a first signal representing a yaw rate of the transportation vehicle, a second signal representing a wheel speed of a wheel of the transportation vehicle, a third signal representing a steering angle of the transportation vehicle, and a fourth signal representing a dynamic tire circumference of the wheel of the transportation vehicle;
• ascertain a first output signal of a first Kalman filter that represents the dynamic track width, using the first signal, the second signal, the third signal, and the fourth signal, as input signals for the first Kalman filter;
• and
• use, in conjunction with the data output, the first output signal in a control unit of the transportation vehicle.