Patent ID: 8532878

Claim:
A method for determining a compensating steering angle for a vehicle, for compensating a transverse inclination of the roadway on which the vehicle is traveling, the method which comprises: determining a transverse inclination of a roadway on which the vehicle is traveling by: measuring a transverse acceleration of the vehicle with a measuring device; determining a transverse acceleration of the vehicle generated by driving maneuvers by correlating a yaw rate and a speed of the vehicle; forming a difference, using a processor, between the transverse acceleration of the vehicle generated by driving maneuvers and the transverse acceleration of the vehicle measured by the measuring device; and concluding therefrom a transverse acceleration of the vehicle caused by the transverse inclination of the roadway; inputting into a transverse inclination compensator a value corresponding to the transverse acceleration of the vehicle caused by the transverse inclination of the roadway and current vehicle parameters including a velocity and a mass of the vehicle; determining with the transverse inclination compensator a compensating steering angle δcomp,ay which compensates for the transverse acceleration of the vehicle caused by the transverse inclination of the roadway and which tends to oppose the transverse inclination, the compensating steering angle (δcomp,ay being proportional to a constant representing the current vehicle parameters and the transverse acceleration of the vehicle caused by the transverse inclination of the roadway.