Abstract: The opening of vehicle doors often leads to collisions with stationary obstacles that are not visible to the occupants or with moving obstacles that approach the vehicle without being noticed. Thus to avoid collisions when vehicle doors are opened, the aim of the invention is to take any modifications to the environmental situation of the vehicle as a result of a movement of the vehicle and the detected objects into consideration. This allows a collision of the vehicle doors with the objects to be reliably avoided. To achieve this, in a first step the probable trajectory of a vehicle is determined. In an additional step, the objects in the vicinity of the vehicle are detected and probable trajectories of said detected objects are determined. Respective probability ranges are then defined both for the vehicle and the pivoting zone of the vehicle doors and for the detected objects.

Abstract: The opening of vehicle doors often leads to collisions with stationary obstacles that are not visible to the occupants or with moving obstacles that approach the vehicle without being noticed. Thus to avoid collisions when vehicle doors are opened, the aim of the invention is to take any modifications to the environmental situation of the vehicle as a result of a movement of the vehicle and the detected objects into consideration. This allows a collision of the vehicle doors with the objects to be reliably avoided. To achieve this, in a first step the portable trajectory of a vehicle is determnined. In an additional step, the objects in the vicinity of the vehicle are detected and probable trajectories of said detected objects are determined. Respective probability ranges are then defined both for the vehicle and the pivoting zone of the vehicle doors and for the detected objects.

Abstract: The present invention relates to a method for determining a friction coefficient value (F?) which represents the coefficient of friction present between the underlying surface and a vehicle tire. For this purpose, a wheel slip value (?ij) is determined for at least one vehicle wheel, said value (?ij) describing the wheel slip present at this vehicle wheel. The friction coefficient value (F?) is determined as a function of this wheel slip value (?ij). For this purpose, during a predefined operating state of the vehicle wheel slip values (?ij) are determined at various times, in particular successive times. The frequency distribution of values is determined for these wheel slip values (?ij) or for axle-related slip values (?VA and ?HA) which are determined as a function of these wheel slip values (?ij). The friction coefficient value (F?) is determined by evaluating this frequency distribution of values.

Abstract: In a method and apparatus for stabilizing a vehicle combination (composed of a towing vehicle with front and rear wheels and a trailer or semi-trailer at least one dynamic movement input variable is determined and evaluated. If a rolling movement of the vehicle combination is detected at least braking interventions for stabilizing the dynamic movement state of the vehicle combination are brought about for the towing vehicle. According to the invention, a yaw moment which counteracts the rolling movement of the vehicle combination is produced solely by means of braking interventions which are brought about for the front wheels of the towing vehicle.

Abstract: A method and apparatus for preventing vehicle handling instabilities, in which a vehicle yaw angular velocity required value (.mu..sub.soll) is formed from measured quantities (vehicle velocity, steering wheel angle). The vehicle yaw angular velocity actual value (.mu..sub.ist) is formed from at least one sensor signal, the difference between the yaw angular velocity required value (.mu..sub.soll) and the yaw angular velocity actual value (.mu..sub.ist) is determined by subtracting the yaw angular velocity actual value (.mu..sub.ist) from the yaw angular velocity required value (.mu..sub.soll), and the handling situation or the vehicle yaw behavior to be detected is determined from this difference. The time derivative of the difference is formed to determine whether the vehicle exhibits understeer or oversteer. The slip threshold value (.sigma..sub.

Abstract: A method detects the driving situation with respect to the yaw behavior of the vehicle, in which a desired value of the vehicle yaw angle rate .mu..sub.des is derived in a computer unit from measured values (such as vehicle speed, steering wheel angle), and at least one sensor signal is supplied to the computer unit from which the actual value of the vehicle yaw angle rate .mu..sub.act is derived. The difference between the desired value of the yaw angle rate .mu..sub.des and the actual value of the yaw angle rate .mu..sub.act is formed in the computer unit. The actual value of the yaw angle rate .mu..sub.act is subtracted from the desired value of the yaw angle rate .mu..sub.des, and at least one output signal is generated in and emitted by the computer unit from this difference. The output signal represents the detected driving situation with respect to the yaw behavior of the vehicle.

Abstract: A method and apparatus prevents instabilities in vehicle handling by forming a desired value of the vehicle yaw angle rate .mu..sub.des from measured values (namely, vehicle speed, steering wheel angle), and forming the actual value of the vehicle yaw angle rate .mu..sub.act from at least one sensor signal. The difference between the desired value of the yaw angle rate .mu..sub.des and the actual value of the yaw angle rate .mu..sub.act is formed by subtracting the actual value of the yaw angle rate .mu..sub.act from the desired value of the yaw angle rate .mu..sub.des. At least one output signal is generated and emitted by the computer unit, from this difference. The output signal represents the detected driving situation with respect to the yaw behavior of the vehicle, with the brake pressure of individual wheels of the vehicle being varied as a function of this output signal, and the output signal being generated in the computer unit as a function of a time derivative of the difference.