Method for the Approximate Determination of the Torque Which is Actually Transmitted by a Clutch of a Drive Train of a Vehicle

A method for controlling torque transmitted by a drive train of a vehicle to driven wheels of the vehicle corresponding to a desired torque, the method comprising the acts of:

• setting the clutch in a closed state and transmitting a torque by way of the drive train of the vehicle;
• providing a state space model which models the drive train of the vehicle;
• determining a torque theoretically transmittable or which is transmitted by the clutch in the closed state;
• calculating a disturbance torque, wherein the disturbance torque is determined based on:
• (i) the state space model and a Kalman filter, and (ii) actual rotational speeds of individual components of the drive train and/or actual torques transmitted by the individual components;
• adding the theoretically transmittable or transmitted torque and the calculated disturbance torque to approximately determine the torque actually transmitted by the clutch of the drive train of the vehicle;
• and
• compensating the disturbance torque observed at the clutch by impressing a compensation torque via an electric machine on a rotating component of the drive train and/or by changing the closed state of the clutch.