Process for controlling driving dynamics of a street vehicle

A method for driving dynamic regulation of a road vehicle in which reference values for at least a yaw rate {dot over (Ψ)} and a float angle β of the vehicle are generated, under clock control in sequential cycles of a presettable duration TK, by a simulation computer in an electronic control unit which automatically regulates driving dynamics of the vehicle based on a model that represents the vehicle in terms of design and load state parameters thereof, and based on operating data which includes measured current values of steering angle δ and vehicle speed vx, said simulation computer generating control signals for activating at least one wheel brake of the vehicle based on a comparison of a reference value {dot over (Ψ)}SO as a setpoint for the yaw rate of the vehicle and actual values {dot over (Ψ)}I of the yaw rate of the vehicle that are continuously recorded a yaw rate sensor device, or for reducing an engine drive torque of the vehicle;

• wherein
• the vehicle model is implemented by a linear differential equation system of the form
• [P]·({overscore ({dot over (X)})})=[Q]·({overscore (X)})+({overscore (C)})·δ(t)
• in which [P] represents a 4×4 matrix with elements pij (pij=0,mZv,0,0;
• 0,0,0,JZ;
• 0,0,0,0;
• 0,−1,0,0) mZ being a mass of the vehicle, JZ being a yaw moment of inertia of the vehicle, and v being a lengthwise velocity of the vehicle;
• [Q] represents a 4×4 matrix with elements qij (qij=0, −Cv−CH, 0, −mz·v−(Cv1v−CH1H)/v;
• 0, CH1H−Cv1v, 0, (−1v2Cv−1H2CH)/v;
• 0,0,0,0;
• 0,0,0,1), CV and CH being diagonal travel stiffnesses of front and rear wheels of the vehicle respectively, and lV and lH being a distance between vehicle center of gravity and a front axle or a rear axle;
• {overscore (C)} represents a four-component column vector with components ci (ci=cV,CVlV,0,0);
• {overscore (X)} represents a four-component column vector formed from state values βZ and {dot over (Ψ)}z with components xi (xi=0, βz, 0, {dot over (Ψ)}z);
• and {overscore ({dot over (X)})} represents the time derivative d{overscore (X)}/dt of the column vector {overscore (X)};
• and
• driving-dynamic state values βZ(k−1) and {dot over (Ψ)}z(k−1) are determined at a point in time t(k−1), and updated at a point in time t(k) that is later by the clock time interval TK, by evaluation of a system of equations X _ ⁡ ( k ) = { [ P ] T k - [ Q ] } - 1 · { [ P ] T k · X _ ⁡ ( k - 1 ) + C _ · δ ⁡ ( k ) }
• with values of matrix elements pij and qij that are updated at a point in time t(k).