Patent ID: 8280586

Claim:
A method for determining the actual yaw angle and the actual slip angle of a land vehicle with the aid of a driving condition sensor system, a yaw rate sensor and a position determining system, the method comprising the steps of: determining at least one slip angle characteristic of the land vehicle with the aid of sensor values which are provided by the driving condition sensor system internal to the vehicle and/or the yaw rate sensor; determining an actual speed vector angle which is determined as the angle between a speed vector of the land vehicle, determined with values of the position determining system, and an earth-fixed axis; comparing the at least one slip angle characteristic with at least one static slip characteristic limit value; comparing a rate of change of the at least one slip angle characteristic with at least one dynamic slip characteristic limit value; if neither the at least one static slip characteristic limit value nor the at least one dynamic slip characteristic limit value are exceeded: adjusting the actual yaw angle to match the actual speed vector angle, and determining the actual slip angle with the aid of the sensor values which are provided by the driving condition sensor system internal to the vehicle and/or the yaw rate sensor; if either the at least one static slip characteristic limit value or the least one dynamic slip characteristic limit value is exceeded: determining the actual yaw angle with the aid of sensor values which are provided by the yaw rate sensor by continuous value integration on the basis of a preceding adjustment to the speed vector angle, and determining the slip angle as the difference between the thus determined yaw angle of the land vehicle and the actual speed vector angle.