DE102008032763A1 - Motor vehicle e.g. passenger car, driving dynamics controlling device, has actuator that is controlled according to result of comparison between measured yaw rate and stationary desired yaw rate, from control module - Google Patents

Abstract

The device has an actuator that is controlled according to a result of comparison between a measured yaw rate and a stationary desired yaw rate, from a control module. The actuator is provided as a part of a controllable and/or regulatable subsystem for front wheel or rear wheel steering, a brake system, a dampening- and ride-control system, a torque vectoring- and all wheel-system, an engine- and gear-management system, a hybrid system, or another controllable and/or regulatable subsystem. Independent claims are also included for the following: (1) a method for controlling driving dynamics of a vehicle (2) a method for generating a characteristic map for desired yaw control of a vehicle.

Description

The The invention relates to a device and a method for regulation the driving dynamics of a vehicle.

modern Motor vehicles are equipped today with dynamic driving systems, the driving dynamics of passenger cars and in particular the Improve driving behavior in driving-dynamic borderline situations. These Systems are designed to stabilize the vehicle in emergency situations and thus help prevent accidents. In particular, be here Electronic Stability Program (ESP), Overload Steering (AFS) and electric power steering (EPS) mentioned. In the future, other control systems, such as z. B. active rear wheel steering (ARWS) and Torque Vectoring (TV), used for this purpose become. The goal of these systems is no longer solely stability to ensure the vehicle in all driving situations but also the driving pleasure and the comfort of the driver too increase.

One known from the prior art parameters for controlling the Driving dynamics of the vehicle is the yaw rate. In yaw rate control systems is the driver's request, basically by the steering angle and the speed of the vehicle is given to a target yaw rate implemented. This is done with the, via a suitable yaw rate sensor, compared to the yaw rate measured on the vehicle. According to the result This comparison will be made below on a vehicle dynamics control system, for example via a brake system, the driving dynamics of the Vehicle so influenced that the yaw rate of the vehicle the setpoint (Sollgierrate) can best follow.

Out In the prior art, various methods for yaw rate control known.

In the DE 10 2004 006 944 A1 For this purpose, a model-based control method and a corresponding control device for vehicle dynamics control of a multi-lane vehicle are taught.

From the DE 10 2005 046 612 A1 a method is known for realizing vehicle dynamics functions using a real-time tire model.

In the DE 195 15 059 A1 is a driving stability controller with Reibwertabhängiger limitation of the reference yaw rate disclosed.

Finally, out of the EP 1 745 953 A1 a driving dynamics control system known.

From the DE19617590 A1 For example, a method for determining the desired vehicle behavior on the basis of linear relationships is known, wherein a desired yaw rate is determined by reducing the front skew stiffnesses.

From the US 6,547,343 B1 a brake control system is known, while a simplified method for calculating the slip angle is used.

From the EP 0 775 617 B1 For example, an apparatus for determining estimated motion state quantities of a vehicle having a driving condition observer is known.

Finally, out of the US 6,161,905 a simple control system based on estimates of actuals and out of the US 7,184,868 B2 a driving condition observer is known.

The methods and devices known from the prior art prove in practice, especially at higher lateral accelerations, preferably from about 4 m / s ² , as insufficient and lead in some situations to an uncomfortable for the driver control intervention.

It is therefore an object of the invention is a corresponding device as well as a corresponding procedure to develop that through high efficiency with low costs and optimized Calculation time and by realistic as possible specifications for the set yaw rate to be calculated.

These The object is achieved by the device according to claim 1 and the method solved according to claim 8.

By definition, according to an embodiment of the invention is the first of the second calculation model even then different if the first and the second calculation model each have a function with a constant Have slope, but the two slopes in terms of amount are different.

To a particular embodiment of the invention is the Slope of a function with constant slope greater 0th

To In a particular embodiment, the vehicle speed determined by the wheel speed.

To a preferred embodiment is by the invention Device a more harmonious control of vehicle dynamics possible.

Nevertheless the invention according to a particular embodiment with two calculation models and corresponding functions is, the use of more than two models of modeling modeling of the tire model by the present invention. To a particular embodiment of the invention, the Tire modeling module, for example 3 submodules with 3 different ones Calculation models and corresponding different functions on. According to a particular embodiment of the invention can the tire characteristic (course of the lateral force depending on the skew angle) sections by different Functions with, preferably different, constant slopes be approximated.

To a particular embodiment of the invention Device is in the first or the second calculation model the lateral force as a first function of the slip angle provided, wherein the first function has a constant slope. According to another possible embodiment in both calculation models, the lateral force as a function of the slip angle provided, with both functions constant, but, in particular in terms of amount, have different slopes.

To a particular embodiment of the invention Device, the first calculation model has a second function with non-linear, in particular non-linear, declining-balance, behavior and the second calculation model has the first function. After a preferred embodiment of the invention Device provide the first and the second function while the stationary lateral forces depending on the skew angle is.

To An embodiment of the invention is by definition under a non-linear function is a non-constant function Slope, for example, a polynomial function, understood.

To a particular embodiment of the invention Device, the solution module has a logic for iterative numerical solution of the set yaw rate model by a numerical Solution method, preferably by a zeroing method, more preferably according to the bisection method, wherein the Logic of the solution module has a calculation loop and incorporating the tire modeling module into the calculation loop is that the calculation loop as long, preferably more than once, particularly preferably at least twenty times, can be passed through until the desired yaw rate of the vehicle in a desired Accuracy is determined.

To a particular embodiment of the invention Device is one of the device for Sollgierratenberechnung provided upstream module over which a, in particular linear, estimation of occurring on the vehicle stationary lateral forces on the basis of one, in particular linear, tire model is feasible, with over this estimate is suitable starting values for the numerical solution methods, in particular zeroing methods, are determinable. Under a linear estimation of lateral forces By definition, according to one embodiment, a Estimation of lateral forces occurring on the vehicle by means of a linear model, preferably by means of a linear Single-track model, particularly preferred according to the Ackermann equation, Understood.

To a particular embodiment of the invention Device, the sensor for determining the steering angle a Sensor for determining the Radeinschlag at least one of the front Wheels of the vehicle and a sensor for determination the Radeinschlages at least one of the rear wheels of the Vehicle on.

According to a particular embodiment of the device according to the invention, the skew angle is Determination module integrated in the calculation loop of the solution module.

To a particular embodiment of the invention Device has the skew angle determination module a first slip angle sub-module for determining the Slip angle at least one of the front wheels of the vehicle as well as a second slip angle sub-module for determining the skew angle of at least one of rear wheels of the vehicle.

To a particular embodiment of the invention Device includes the device for the target yaw rate calculation Riot-force module for determining the contact forces of the vehicle. According to a particular embodiment is the uprising force module in the calculation loop of Integrated solution module.

To In another embodiment, the invention is by a method according to claim 8 characterized.

To a particular embodiment of the invention Method is either in the first or second calculation model the lateral force as a first function of the slip angle formulated, wherein the first function has a constant slope. According to another possible embodiment is in both calculation models the side force as a function of Slip angle provided, both functions constant, but have different slopes.

To a particular embodiment of the invention Method, the first calculation model has a second function with nonlinear behavior on and has the second calculation model the first function on.

To a particular embodiment of the invention Method, the solution module has a logic for iterative numerical solution of the set yaw rate model by a numerical Solution method, preferably by a zeroing method, particularly preferably according to the Bisektionsverfahren on. After a preferred embodiment are the second and third Process step in the logic of the solution module in a Integrated calculation loop, wherein the second and third method step in the calculation loop by using the numerical solution method while, preferably more than once, more preferably at least Twenty times, be processed until the set yaw rate of the vehicle is determined in a desired accuracy.

To a particular embodiment of the invention Method is the mathematically formulated Sollgierratenmodell as a function of lateral force after the interval bisection method solved by zeroing search.

To a particular embodiment of the invention Method is one of the device for Sollgierratenberechnung upstream Provision module provided via which an estimate the stationary lateral forces occurring on the vehicle, performed on the basis of a, in particular linear, tire model is, with this estimate suitable starting values for the numerical solution method.

To a particular embodiment of the invention Method includes the device for the target yaw rate calculation Aufstandsskraftmodul on, wherein the Aufstandsskraftmodul the rioting forces of the vehicle are determined and the riot point module is included in the calculation loop and is processed.

To a particular embodiment of the invention Method includes the skew angle determination module first skew angle submodule for determining the skew angle the front wheels of the vehicle and a second slip angle sub-module for determining the slip angle of the rear wheels of the vehicle.

To a particular embodiment of the invention Method, the sensor for determining the steering angle a Sensor for determining the Radeinschlag at least one of the front Wheels of the vehicle and / or a sensor for determination the Radeinschlages at least one of the rear wheels of the Vehicle on.

The The invention is further characterized by a method according to claim 14.

To a particular embodiment of the method for generating a map for Sollgierratenregelung a vehicle a first parameter range for the steering angle and a second parameter range for the vehicle speed determined, and on the first and second default module in the two parameter areas associated stationary Sollgierraten determined by calculation and stored in the map.

The Invention is described below by way of example and not restricting embodiment by a plurality schematic drawings shown. Show it:

1 a schematic representation of a flowchart of an embodiment of the inventive device for controlling and / or regulating the driving dynamics of a vehicle with respect to the determination of a target yaw rate

2 (a) a schematic diagram illustrating the side force Fy as a function of the slip angle α

2 B) the relationship between f (Fy) and Fy for determining the desired yaw rate from a set yaw rate model

3 a schematic representation of a flowchart of a vehicle dynamics control based on the desired yaw rate

4 a schematic representation of a vehicle with a subsystem for controlling / controlling the driving dynamics of a vehicle

5 a schematic representation of the modularity of the illustrated embodiment In a setpoint control of the vehicle dynamics stationary conditions are shown in the calculation of a setpoint specification, in this case a Sollgierrate, according to the illustrated preferred embodiment. In this case, for example, no transient effects are taken into account in the calculation according to a preferred embodiment.

The The modules described below form the functionality as well as at least partially functions of a calculation method or a corresponding process for setpoint control. Accordingly, you can For example, several modules structurally separate or combined in one or more control units are housed.

How out 1 combined with 5 can be seen starting from a starting process step 1 in a second process step 2 , through a corresponding observation module 26 the vehicle dynamic state and input variables of the vehicle are measured or recorded. On the basis of the measured quantities, for example the vehicle speed and / or the front and optionally the rear steering angle, the side force Fy stationary on the vehicle becomes a default module 26a in one step 3 estimated. Such an estimate can be made, for example, on the basis of the Ackermann equation known from the literature or according to another simplified model derived in particular from a linear single-track model. According to a further embodiment, this estimate could also be made with a different calculation rule, for example taking into account a defined upper and lower limit and / or by including the coefficient of friction.

After estimation of lateral forces in step 3 be in one step 4 in the default module 26a from the estimated lateral force by means of suitable calculation rules suitable side force start values (upper and lower side force limit) for the following calculation steps, in particular for the following numerical algorithm for determining the desired yaw rate selected. According to a particular embodiment of the invention, the estimation of the upper and lower bound on the basis of, from a linear model, in particular in process step 3 , estimated value by multiplication with two predetermined coefficients, ie in each case a coefficient for the lower bound and in each case a coefficient for the upper bound. Have already been in process step 3 suitable barriers can be determined process step 4 omitted without replacement.

In one step 5 be by means of a riot force module 28 which calculates stationary forces of the vehicle stationary at the wheels. The contact force has a significant influence on the side force acting on the vehicle and thus on the desired yaw rate to be determined.

In one step 6 are determined by the skew angle determination module 29 determined on the vehicle, preferably on the front axle and optionally on the rear axle, slip angle of the tires on the vehicle. Corresponding calculation instructions, for example based on inverse tire models or on the basis of dynamic driving relationships, are known to the person skilled in the art from the prior art, and are therefore not explained in greater detail at this point.

In step 7 are based on a mathematically formulated tire model in a tire modeling module 30 the equations for determining the lateral forces, preferably set for each wheel of the vehicle. The tire model used according to a possible embodiment of the invention has a mathematical function with non-linear behavior (first sub-module) in a first range, which is determined by small slip angles up to a predefined limit slip angle, depending on the contact force and / or a coefficient of friction. as well as in a second range, which corresponds to higher slip angles than the predefined limit slip angle, a mathematical function with a constant slope (second sub-module) on. Accordingly, the tire model is assigned two separate functional equations, in the sense of a composite function. A first function equation or subfunction corresponds to the first submodule, a second function equation or subfunction corresponds to the second submodule. According to a particular embodiment, the calculated lateral forces of the wheels of the vehicle are added to a preferably in the center of gravity of the vehicle attacking (total) lateral force of the vehicle. From the tire model, the Sollgierratenmodell is formulated subsequently. The desired yaw rate model, according to one embodiment, has an implicit equation that is not analytically solvable. To solve the Sollgierratenmodells a numerical solution method is proposed according to an embodiment of the invention. For this purpose, the functional equation of the desired yaw rate model is preferably transformed such that the solution search is reduced to a zero position search of the function as a function of the lateral force. This zeros search in step 8th in the solution module 31 is carried out iteratively according to the bisection method (interval bisection method). In this method, which is known to the person skilled in the art from numerical algorithms, the zero point is limited by halving the interval in which the zero point is assumed. By sign comparison, it is determined which half of the divided interval for further numerical approximation to the determined zero point should be tracked. Thus, the zero can be quickly narrowed down and determined with an accuracy dependent on the number of iteration steps. According to a further possible embodiment of the invention, other numerical zeroing methods, such as the so-called Newton-Raphson method for numerical zeroing search can be used. However, it has been observed in experiments that the zero of the desired yaw rate model can be calculated faster and more reliably via the interval bisection method than, for example, using the Newton-Raphson method.

To a particular embodiment of the invention can in Range of very small vehicle speeds, for example below of 0.1 m / s, in particular over the entire usable skew angle range a simplified, in particular linear approach to the Tire model and thus used for the Sollgierratenmodell become. Such a linear approach could be, for example on the estimate known from the literature according to Ackermann based.

To Further embodiments, the tire model in a any number of sub-modules with corresponding separate ones Function equations are broken down, resulting in the computing time possibly further reduce.

To Another embodiment of the invention both the first and the second sub-module functions with constant Climb up. According to a particular embodiment will the range before reaching the predefined limit slip angle approximated by several functions with constant slope.

To a preferred embodiment is defined by the From the literature known limit slip angle or critical Slip angle or skew angle maximum lateral force as a predetermined slip angle, as claimed in the claims.

As a non-linear tire model, according to an exemplary embodiment either the Pacejka model known from the literature or alternatively the TM-Easy model is used. However, the invention is not limited to the use of these two models and is also suitable for use with many other models. The non-linear equations according to Pacejka and TM-Easy, which are known from the literature, will be used only in that subarea in which they show a strictly monotonous course, So in particular until reaching the Grenzschräglaufwinkel. If, in the sense of a composite function, the nonlinear equation from the first submodule is combined by a function with a constant slope from the second module adjoining the first module, a strictly monotonous behavior of the composite can be determined over the entire relevant course of the side force as a function of the slip angle Model equation and thus a clear solution of the Sollgierratenmodells be achieved.

α

Schräglaufwinkel

α_m

Schräglaufwinkel bei maximaler Seitenkraft (Umschaltkriterium), vorzugsweise abhängig von der Radaufstandskraft und/oder einem Reibwert

K₀

Anfangssteigung des Reifenmodells

Fy

Seitenkraft

Fy_m

maximale Seitenkraft, vorzugsweise in Abhängigkeit der Radaufstandskraft und gegebenenfalls des Reibwertes

C

Konstante

K_Korr

Korrekturwert

The process step according to one embodiment of the invention 7 applied adapted tire function for determining the lateral force Fy as a function of the slip angle α has in a first sub-range (first sub-module) a non-linear, based on the TM-Easy model, first function, according to equation (1), as well as in a second sub-range ( second sub-module) has a second function characterized by a constant slope, according to equation (2), and can be formulated mathematically as follows:

α

Slip angle

α _m

Slip angle at maximum lateral force (switching criterion), preferably depending on the wheel contact force and / or a coefficient of friction

K ₀

Initial slope of the tire model

Fy

lateral force

Fy _m

maximum lateral force, preferably as a function of the wheel contact force and optionally the coefficient of friction

C

constant

K _corr

correction value

It Fy (α) = -Fy (-α) for α <0. Thus, for negative slip angles, the calculated Lateral force provided with a negative sign.

The used tire model is in 2 (a) simplified in a diagram. The lateral force Fy is shown as a function of the slip angle α. How out 2 (a) As can be seen, the tire model is approximated in a range of low slip angles by the first function (1) in the first sub-module, and in a range of higher slip angles by the second function (2) in the second sub-module. The switching point between the two functions (1) and (2) is the predefined maximum slip angle α _m , which corresponds to the predefined or predetermined (limit) slip angle.

ψ ._Soll

Sollgierrate

ν_F

Fahrzeuggeschwindigkeit

δ_V

Radeinschlag der Vorderräder

δ_H

Radeinschlag der Hinterräder

If the equations known from the literature are combined, the following implicit function for the calculation of the desired yaw rate is obtained: ψ. Should = f (ν F , δ V , δ H , ψ. Should ) (3)

ψ. _Should

Target yaw rate

ν _F

vehicle speed

δ _V

Radial impact of the front wheels

δ _H

Radeinschlag the rear wheels

This formula is not analytically solvable. By reshaping, as known from the literature, it can be attributed to the calculation of lateral forces: Fy = f (ν F , δ V , δ H , Fy) (4)

The calculation of the lateral forces can be further simplified to a zero-point problem: f (Fy) = F y - f (ν F , δ V , δ H , Fy) = 0 (5)

The solution or evaluation of this equation or function, which as Sollgierratenmodell by the solution module 31 is solved, and in 2 B) is shown schematically is the subject of the process step 8th , As can be seen, the solution of this equation simplifies the search for zeros. By continuous iteration according to the interval bisection method (bisection method), the unknown stationary side force Fy can be determined. In general, 20 iterations suffice to determine the lateral force with sufficient accuracy. A corresponding decision process step is in process step as part of the solution module 9 intended. It is decided, for example via an accuracy barrier, whether the iteration should be continued or aborted.

As in 1 can be seen, are the process steps 5 - 9 into a calculation loop 12 of the zeroing algorithm 11 the logic of the solution module 31 , which essentially depicts the zero-point algorithm, that is to say in particular the bisection method. If a predefined and desired accuracy has not yet been reached after a run through this process chain, the abort condition is used 9 a further interval halving performed, followed by the process steps 5 - 9 the calculation loop 12 be processed again.

If the lateral force is determined with sufficient accuracy, it can be done in one process step 10 from the determined side force, as known from the literature, with the mass of the vehicle in the Sollgierratenmodell the stationary lateral acceleration of the vehicle and then from the lateral acceleration by dividing by the speed of the vehicle, the target yaw rate are determined.

As in 3 shown schematically, done after the Sollgierratenbestimmung 10 in a process step 11 a comparison of the desired yaw rate with the actually measured yaw rate and subsequently, preferably via a driving dynamics controller or a control module 11a the control of a subsystem for the targeted influencing of the driving dynamics of the vehicle. As subsystems, for example, a system for controlling and / or controlling an active front-wheel steering 13 and / or a system for controlling and / or controlling a rear-wheel steering 14 and / or a system for controlling and / or controlling a torque vectoring (variable torque distribution in the drive train) and / or four-wheel drive system 15 and / or a system for controlling and / or controlling a brake system 16 For example, in the context of an ESP system, and / or a system for controlling and / or controlling an all-wheel drive 17 and / or a system for controlling and / or controlling a transmission 17 and / or an engine 17 , For example via an engine management system, and / or another subsystem possible.

The Target yaw rate is measured with the actual measured on the vehicle Yaw rate and in case of a discrepancy between and actual value, preferably in accordance with a control law, controlling and / or regulary intervened in the vehicle dynamics. Through this intervention If the actual value of the yaw rate to the desired value (Sollgierrate) is adjusted and so the stability of the driving dynamics of the vehicle again getting produced.

For clarification is in 4 schematically a vehicle 18 shown that has various sensors for monitoring the vehicle dynamics. Exemplary here are a sensor 19 for determining the steering angle at the front wheels 21 of the vehicle and a sensor 20 for determining the steering angle at the rear wheels 22 provided the vehicle. Furthermore, this exemplary embodiment has a yaw rate sensor 23a and a vehicle speed sensor 23b on, as well as the sensors 19 and 20 with a central control unit 24 of the vehicle is connected. In the central control / control unit, the corresponding modules for calculating the desired yaw rate and for comparing the desired yaw rate with the yaw rate sensor 23 integrated yaw rate integrated. According to a control and / or control logic controls and / or controls the central control / control unit 24 a subsystem 25 , which is designed in the present exemplary embodiment as an all-wheel drive. In the present four-wheel clutch is a corresponding actuator 25a , For example, a piston for closing a multi-plate clutch, provided by the driving dynamics of the vehicle can be influenced.

To further clarify the illustrated exemplary embodiment of the invention is in 5 the modularity of the present invention is shown schematically. This is a vehicle observation module 26 for receiving at least the steering angle δ _v at least one of the front wheels and δ _h at least one of the rear wheels and the speed v of the vehicle provided. The vehicle observation module supplies corresponding data to the default module 26a , which in turn default values, in particular for the initial estimation of the lateral forces to the device for Sollgierratenberechnung 27 supplies. The device for the nominal yaw rate calculation 27 has a riot force module 28 , a skew determination module 29 , a tire modeling module 30 as well as a solution module 31 on. About the solution module 31 Finally, the set yaw rate is determined by the set yaw rate model, ie the necessary calculation rules for calculating the set yaw rate and the logic for processing the numerical solution algorithm. How out 5 can be seen, the solution module has 31 according to a particular embodiment, a feedback to the other modules of the device for Sollgierratenberechnung 27 which allows the numeric iteration.

By the method according to the invention will be those stationary Target yaw rate determined or predicted, which decays after decay transient processes, in particular yaw, roll and / or Nodding on the vehicle according to the vehicle model used should set. This set yaw rate is called stationary set yaw rate designated.

To a particular embodiment of the invention will be after the calculation method described a map for Sollgierratenbestimmung set up. In an application run are doing for various vehicle speeds and / or steering angle according to the sketched stationary steady state yaw rates and filed in the map. As part of the driving dynamics regulations is used for vehicle speed and steering angle the assigned stationary Sollgierrate read out of the map. Through this simplification, the required values of the Set yaw rate easy and fast for the nominal yaw rate control to disposal.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• DE 102004006944 A1 [0005]
• DE 102005046612 A1 [0006]
• DE 19515059 A1 [0007]
• - EP 1745953 A1 [0008]
• - DE 19617590 A1 [0009]
• - US 6547343 B1 [0010]
• - EP 0775617 B1 [0011]
• US 6161905 [0012]
• US 7184868 B2 [0012]

Claims (15)

Device for controlling the driving dynamics of a vehicle, with a vehicle observation module for recording of vehicle parameters, wherein the vehicle observation module at least a sensor for receiving a steering angle, a sensor for recording a vehicle speed and a sensor for determination having a yaw rate of the vehicle, and with a device for Sollgierratenberechnung, the means for the target yaw rate calculation a skew angle determination module for determining a Slip angle of a tire on the vehicle, a tire modeling module for determining a side force occurring on the tire of the vehicle, as well as a solution module for determining a stationary Has nominal yaw rate, wherein the tire modeling module is a has first and a second sub-module, being in the first sub-module, the side force occurring in the area below from and to a predetermined slip angle according to a first calculation model is determinable, and wherein in the second Submodule the occurring lateral force in the range above the predetermined Slip angle according to a second, Determinable from the first calculation model, calculation model is and in the solution module by means of a desired yaw rate model From the side force the stationary Sollgierrate calculable is and an actuator is provided according to a Result of a comparison between the measured yaw rate and the stationary nominal yaw rate, in particular of a control module, is controllable, wherein the actuator as part of a controllable and / or controllable subsystem for front and / or rear wheel steering and / or a brake system and / or a damping and / or level control system and / or a torque vectoring and / or four-wheel drive system and / or an engine and / or transmission management system and / or hybrid system and / or another controllable and / or controllable subsystem is provided. Device according to claim 1, characterized in that that in the first or the second calculation model, the lateral force provided as a first function of the slip angle is, wherein the first function has a constant slope. Device according to claim 2, characterized in that that the first calculation model has a second function with non-linear, especially non-linear degressive, behavior and the second calculation model has the first function. Device according to one of claims 1 to 3, characterized in that the solution module is a logic for the iterative solution of the desired yaw rate model by means of a numerical solution method, preferably by a zeroing method, particularly preferably according to the bisection method, wherein the logic of the solution module has a calculation loop and incorporating the tire modeling module into the calculation loop is that the calculation loop as long, preferably more than once, particularly preferably at least twenty times, can be passed through until the desired yaw rate of the vehicle in a desired Accuracy is determined. Device according to claim 4, characterized in that that one of the device for Sollgierratenberechnung upstream Default module is provided, via which an estimate the stationary lateral forces occurring on the vehicle on the basis of a, in particular linear, tire model feasible is and about this estimate suitable starting values can be determined for the numerical zeroing method. Device according to one of claims 1 to 5, characterized in that the skew angle determination module integrated into the calculation loop of the solution module is. Device according to one of claims 1 to 6, characterized in that the means for the target yaw rate calculation a riot force module for determining the uprising forces of the vehicle, and the riotous force module in the calculation loop of the solution module is involved. A method for vehicle dynamics control of a vehicle having at least one sensor for receiving a steering angle, a sensor for receiving a vehicle speed and a sensor for determining a yaw rate of the vehicle, and with a device for determining yaw rate calculation, wherein the means for yaw rate calculation means a skew angle determination module for determining a slip angle of a tire on the vehicle and a tire modeling module for determining a The tire modeling module has a first and a second sub-module for determining the lateral force occurring at the tire of the vehicle, wherein in the first sub-module, a first calculation model for calculating the lateral force acting on the tire of the vehicle and a solubility module for determining a stationary Sollgierrate occurring side force is provided in the range below and up to a predetermined slip angle and in the second submodule, a second calculation model for calculating the lateral force occurring in the range above the predetermined slip angle is provided, and determined in a first process step, taking into account the steering angle, a wheel angle of the vehicle is determined, and in a second method step from the Radeinschlag and the vehicle speed of the slip angle and the side force, and further in a third method step taking bers Judging the side force by means of a Sollgierratenmodells the stationary Sollgierrate the vehicle is determined, and based on a comparison of the measured yaw rate with the stationary Sollgierrate, in particular by a control module, an actuator is controlled, the actuator as part of a controllable and / or controllable subsystem for Front and / or rear wheel steering and / or braking system and / or an attenuation and / or level control system and / or a torque vectoring and / or four-wheel system and / or an engine and / or transmission management system and / or hybrid system and / or another subsystem is provided and the actuator engages stabilizing in the driving dynamics of the vehicle. Method according to claim 8, characterized in that that either in the first or second calculation model the lateral force formulated as a first function of the slip angle is, wherein the first function has a constant slope. Method according to claim 9, characterized that the first calculation model has a second function with non-linear Behavior and the second calculation model has the first function having. Method according to one of claims 8 to 10, characterized in that the solution module has a logic for the iterative solution of the desired yaw rate model, by means of a numerical solution method, preferably by a zeroing method, particularly preferably according to the bisection method, and the second and third method step in the logic of the solution module are integrated in a calculation loop, the second one and third process step in the calculation loop by application of the numerical solution method, preferably more as once, more preferably at least twenty times, worked off until the desired yaw rate of the vehicle in a desired Accuracy is determined. Method according to claim 11, characterized in that that one of the device for Sollgierratenberechnung upstream Default module is provided, via which an estimate the stationary lateral forces occurring on the vehicle performed on the basis of a, in particular linear, tire model and via this estimate appropriate starting values for the numerical solution method. Method according to one of claims 8 to 12, characterized in that the means for Sollgierratenberechnung a Aufstandskraftmodul, wherein on the Aufstandskraftmodul the rioting forces of the vehicle are determined and the riotous force module into the calculation loop of the solution module is involved. A method for generating a map for target yaw rate control of a vehicle, comprising a first default module for specifying a steering angle and a second default module for specifying a vehicle speed and with a device for Sollgierratenberechnung, wherein the means for Sollgierratenberechnung a skew angle determination module for determining a slip angle of a tire on the vehicle, a A tire modeling module for determining a side force occurring at the tire of the vehicle and a solution module for determining a stationary Sollgierrate, the tire modeling module having a first and a second sub-module for determining the occurring at the tire of the vehicle side force, wherein in the first sub-module, a first calculation model is provided for calculating the lateral force occurring in the range below and up to a predetermined slip angle and in the second sub-module a zw eith calculation model for calculating the lateral force occurring in the range above the predetermined slip angle is provided, and based on the predetermined by the first default module steering angle and the predetermined by the second default module vehicle speed in a first method step taking into account the steering angle, a wheel angle of the vehicle is determined, and in a second Step in the wheel slip and the vehicle speed in the slip angle determination module of the slip angle of the tire and determined in the tire modeling module, the side force of the vehicle, and further determined in a third process step, taking into account the side force in the solution module by means of a Sollgierratenmodell the steady-state target yaw rate of the vehicle, and subsequently the determined as the steering angle and the vehicle speed associated stationary Sollgierrate is stored in the map. Method for generating a characteristic diagram for the nominal yaw rate control A vehicle according to claim 14, characterized in that a first parameter range for the steering angle and a second parameter range for the vehicle speed determined, and the first and the second template module in the two parameter areas associated stationary Sollgierraten determined by calculation and stored in the map become.