Abstract: A method sofeware and apparatus for suppressing high-frequency oscillations in the steered axles of a vehicle with a regulating device for regulating a steering angle on the basis of a setpoint that has been calculated. Active steering of this kind has the advantage that driving errors, within the scope of the physically possible, are prevented. However, the disadvantage is that as a result of the regulation of the steering angle, steering stiffness, and running-in behavior of the wheel, high-frequency oscillations of the wheel result around its vertical axis. The development of these oscillations is termed the shimmy effect. The shimmy effect is reliably prevented without adversely affecting the regulating quality of the steering angle by calculating the steering angle rate in a model of the steering and supplied it to the computer as an additional input value.

Abstract: A process is provided for determining a travel-situation-dependent steering angle, in which a specification of a characteristic value for the transverse motion of the vehicle is given, the actual value of the yaw angular velocity of the vehicle is evaluated, and a criterion is derived as a function of the actual value of the yaw angular velocity as well as the predetermined characteristic value. As a function of the criterion, an influencing of the travel behavior of the vehicle takes place by an intervention in the vehicle steering. For the derivation of the criterion, additionally the side slip angle, the steering angle and the vehicle velocity are evaluated, and, for the derivation of the criterion, the lateral forces at the vehicle wheels are taken into consideration.

Abstract: A method for determining variables characterizing vehicle handling is provided, in particular the attitude angle. Signals of measured variables are fed to a computing device. At least the attitude angle is determined in the computing device using equations of motion and using a two-track model of the vehicle.

Abstract: A device for steering and maintaining the course of a vehicle contains, in addition to a device for detecting the position of the vehicle, and a steering control device which acts on a steering angle adjustment device, a preselectable limitation of the steering angle setting requested by the control. A steering angle setting requested by the control is combined with the steering angle setting requested by the driver, and the steering angle adjustment device sets the steering angle in accordance with this combination.