Method for determining a steering force in a steering system, as well as steering system and vehicle

Abstract

The invention relates to a method for determining a steering force (F) in a steering system (100), comprising the steps: - Acquiring (S1) at least one steering-internal measured value (M1) and at least one steering-external measured value (M2), - Determining (S2) at least one state (Z) of the steering system (100) as a function of the acquired measured values ​​(M1, M2), wherein the at least one state (Z) comprises at least one first state value (Z1) and at least one further state value (Z2) of the steering system (100), wherein the at least one first state value (Z1) is a value of the steering force (F), and wherein the at least one further state value (Z2) is a detectable and modelable state value of the steering system (100), - Acquiring (S3) at least one reference value (Z3), wherein the at least one reference value (Z3) is a state value of the steering system (100), - Checking (S4) the determined at least one state (Z).by evaluating an error (E) between the determined at least one further state value (Z2) and the recorded at least one reference value (Z3), - Determining (S5) the steering force (F) as a function of the at least one error (E), as well as a steering system (100) and a vehicle (200).

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