Method for determining reference speed of all-wheel-driven vehicle, involves comparing model-based model reference speed with correction speed, and setting reference speed to smaller value of model reference speed and correction speed

摘要

The method involves computing correction speed from wheel supporting speed and vehicle longitudinal acceleration. A model-based model reference speed is compared with the correction speed determined from measured variables, where the correction speed is considered only when the wheel speed of a vehicle wheel deviates about a minimum value of the vehicle speed and the wheel acceleration value deviates by a minimum value from the vehicle acceleration. The reference speed is set to the smaller value of model reference speed and correction speed. An independent claim is also included for a regulating and/or control device.