Method and device for estimating a driving state of an automotive vehicle

The state vector is given by a stochastic differential equation of specified form, which unites A, B, G matrices, fine non-linear functions, u a control vector and w a random variable of process noise. A state vector-dependent measurement vector is measured. The state vector is estimated using an extended Kalman filter, for approximate calculation of the associated Kalman gain matrix. An independent claim is included for a corresponding control unit.