Method for determining a toothed rack force for a steering device in a vehicle

A method for determining a toothed rack force representing force conditions at a front axle of a vehicle having a power steering system that includes a steering device and a control unit, the method comprising:

• receiving at the control unit operating variables of the vehicle;
• and
• determining by the control unit the toothed rack force (forZS) as a function of a plurality of models, wherein a component (forESM) of the toothed rack force (forZS) which relates to a driving process is generated by means of a first model, and a component of the toothed rack force (forZS) which relates to a parking process is generated by means of a second model;
• and
• using the determined toothed rack force by the control unit in connection with a power steering system operation of the vehicle;
• and
• wherein an adaptation is carried out as a function of at least one lateral force (fyADA), at least for the component (forESM) relating to a driving process;
• and
• wherein the lateral force (fyADA) is found as a function of a modeled lateral force (fyMDL) that is found by means of a single-track model, an actual lateral force (fyFZG), and a slip angle (angSID).