Method for determining vehicle driving status variables which are not directly measurable

A method (1) for determining driving status variables that are not directly measurable of a vehicle using a control device, wherein the control device has at least one computing device, at least one sensor device, and at least one actuator device, the method comprising:

• in a first step, reading in, by the sensor device, and transmitting to the computing device the following information:
• a wheel speed of each vehicle wheel,
• a steering angle of the vehicle,
• a yaw angle rate,
• a longitudinal road inclination of the vehicle and
• a transverse road inclination of the vehicle;
• in a subsequent step, calculating driving status variables by the computing device using a computational model, such that further driving variables that are difficult to measure or not directly measurable are determined on the basis of the calculated driving status variables, and
• in a subsequent step transmitting, by the computing device, the calculated driving status variables and determined driving variables to the actuator device, such that the vehicle is advantageously controlled and/or regulated using the calculated driving variables and determined driving variables
• wherein the computational model contains a vehicle model (8), a tire model, and a wheel suspension model, which are solved together in the computing device according to the following differential equation system:
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