Provided is a vehicle control device with which it is possible to reduce the time required to rewrite a control program. In the vehicle control device according to the present invention, after an updated version of the control program has been stored in a second storage unit, a first storage unit is initialized in advance before the instruction to update the control program has been executed.

Provided is a vehicle control device with which it is possible to reduce the time required to rewrite a control program. In the vehicle control device according to the present invention, after an updated version of the control program has been stored in a second storage unit, a first storage unit is initialized in advance before the instruction to update the control program has been executed.

A method for determining non-directly measurable driving status variables of a vehicle reads in by a sensor device and transmits to a computing device the following: wheel speed of each vehicle wheel, steering angle of the vehicle, yaw angle rate, longitudinal road inclination of the vehicle, transverse road inclination of the vehicle.

Driving status variables are calculated by the computing device with a computational model, so that further driving variables that are difficult to measure or not directly measurable can be determined on the basis of the calculated driving status variables. The calculated and determined variables are transmitted to an actuator device to control and/or regulate the vehicle. The computational model contains a vehicle model, a tire model, and a wheel suspension model and are solved together in the computing device according to the following differential equation system:

[00001]$\left(M_F+\underset{i=1}{\overset{n?3}{.Math.}}{M}_{\mathrm{Ri}}\right)\stackrel{.fwdarw.}{\stackrel{.}{q}}+\left({\stackrel{.fwdarw.}{k}}_F+\underset{i=1}{\overset{n?3}{.Math.}}{\stackrel{.fwdarw.}{k}}_{\mathrm{Ri}}\right)+\left({\stackrel{.fwdarw.}{b}}_g\underset{i=1}{\overset{n?3}{.Math.}}{\stackrel{.fwdarw.}{b}}_i\right)=\stackrel{.fwdarw.}{0}$