Method for influencing the transverse dynamics of a vehicle

1. A method for influencing the transverse dynamics of a vehicle, wherein a transverse dynamics disturbance variable acting on the vehicle, is detected by a disturbance variable determination device, and a counter-yaw moment counteracting the transverse dynamics disturbance variable is produced, said method comprising:

the disturbance variable determination device detecting the dynamic transverse dynamics disturbance variable;

a first vehicle system producing a first counter-yaw moment for at least partially compensating for the dynamic transverse dynamics disturbance variable;

reducing the first counter-yaw moment following the at least partial compensation for the dynamic transverse dynamics disturbance variable;

the disturbance variable determination device checking whether a stationary transverse dynamics disturbance variable exists; and

a second vehicle system generating a second counter-yaw moment to at least partially compensate for the stationary transverse dynamics disturbance variable if a stationary transverse dynamics disturbance variable was detected, wherein the second vehicle system generates the second counter-yaw moment to at least partially compensate for the stationary transverse dynamics disturbance variable after the first vehicle system begins reducing the first counter-yaw moment following the at least partial compensation for the dynamic transverse dynamics disturbance variable.

2. The method according to claim 1 , wherein:

the first counter-yaw moment for at least partial compensation of the dynamic transverse dynamics disturbance variable is generated by a wheel brake intervention at one of the wheels.

3. The method according to claim 1 wherein:

the second counter-yaw moment for the at least partial compensation of the stationary transverse dynamics disturbance variable is generated by the second vehicle system, whose activation is influence-free on the longitudinal vehicle speed.

4. The method according to claim 3 , wherein:

a vehicle steering system is used as the second vehicle system; and

a steering moment is generated in particular with the help of a steering moment adjuster, which supports the driver when generating the second counter-yaw moment.

5. The method according to claim 4 , wherein:

the steering moment adjuster is operated electrically.

6. The method according to claim 4 wherein:

a steering moment applied by the steering moment adjuster to the vehicle steering system can be perceived at the steering wheel by the driver.

7. The method according to claim 4 wherein:

the first counter-yaw moment for at least partial compensation of the dynamic transverse dynamics disturbance variable is generated by a wheel brake intervention at one of the wheels; and

the driver is actively supported only by the steering moment adjuster during the at least partial compensation of the stationary transverse dynamics disturbance variable; and

compensation of the dynamic transverse dynamics disturbance variable takes place solely via wheel brake intervention.

8. The method according to claim 1 wherein:

the disturbance variable determination device detects the dynamic transverse dynamics disturbance variable, in that a side wind magnitude is estimated based on at least one of a transverse acceleration value and a yaw rate value, and based on a vehicle model and a disturbance observer.

9. The method according to claim 1 wherein:

the stationary transverse dynamics disturbance variable is detected, in which, after the detection and the at least partial compensation of the dynamic transverse dynamics disturbance variable, at least one of a steering angle, a steering wheel angle, a hand moment applied to the steering wheel, and a variable correlating with the mentioned variables is evaluated.

10. The method according to claim 9 , wherein:

a transverse dynamic magnitude is used as correlating variable.