Method for operating a working machine, inertial measurement device and working machine

Abstract

The invention relates to a method for operating a work machine (100). The work machine (100) comprises a front carriage (105) and a rear carriage (110) connected to the front carriage (105) via an articulated steering mechanism (115), as well as an inertial measuring device (120). The inertial measuring device (120) can have a first yaw rate sensor (125) arranged on the front carriage (105) and a second yaw rate sensor (130) arranged on the rear carriage (110). The method comprises a reading step and a determination step. In the reading step, a first yaw rate signal is read from the first yaw rate sensor (125), wherein the first yaw rate signal represents a rotation rate of the front carriage (105). Additionally, a second yaw rate signal is read from the second yaw rate sensor (130), wherein the second yaw rate signal represents a rotation rate of the rear carriage (110).In the determination step, an angle signal is determined using the first and second rotation rate signals. The angle signal represents at least one articulation angle and additionally or alternatively a steering angle of the machine (100).

Description

[0001] The present invention relates to a method for operating a work machine, to an inertial measuring device and to a work machine according to the main claims.

[0002] For the implementation of various assistance functions in mobile articulated work machines, such as wheel loaders, dumpers, excavators, the current articulation angle in combination with the vehicle speed can significantly describe the movement of the vehicle.

[0003] Against this background, the object of the present invention is to provide an improved method for operating a working machine, an improved inertial measuring device and an improved working machine

[0004] This object is achieved by a method for operating a working machine, by an inertial measuring device and by a working machine according to the main claims.

[0005] The approach presented is based on the finding that a method for operating a work machine is created that can enable a reliable determination of an articulation angle and / or steering angle of the work machine by using the rotation rates of the front or rear vehicle.

[0006] The approach presented here creates a method for operating a work machine. The work machine comprises a front section and a rear section connected to the front section via an articulated steering system, as well as an inertial measuring device. The inertial measuring device can have a first yaw rate sensor arranged on the front section and a second yaw rate sensor arranged on the rear section. The method comprises a reading step and a determining step. In the reading step, a first yaw rate signal from the first yaw rate sensor is read in, wherein the first yaw rate signal represents a yaw rate of the front section. In addition, a second yaw rate signal from the second yaw rate sensor is read in, wherein the second yaw rate signal represents a yaw rate of the rear section. In the determining step, an angle signal is determined using the first yaw rate signal and the second yaw rate signal.The angle signal represents at least one articulation angle and additionally or alternatively a steering angle of the working machine.

[0007] The work machine can be a wheel loader, an excavator, a dump truck, or a similar work machine. The yaw rate sensors can be components of inertial sensors and can be integrated inexpensively and easily. The yaw rate sensors can thus measure yaw rates, i.e. changes in the direction of travel and / or orientation relative to the direction of travel, in particular for determining the articulation angle and / or the steering angle. The determined yaw rates can be broken down into their causes, steering movement and travel movement, which can be used to determine, for example, the articulation angle and / or the steering angle. When determining based on the yaw rate of the travel movement, the initial angle is not required, and the disturbance variable and / or the sensor drift are negligibly small.When integrating a portion of the measured yaw rates attributable to the steering movement, sensor drift has an effect; the initial angle must also be known. The determination can also be based on integrating the yaw rate of the steering movement. Superposition can be indirectly avoided by splitting the superimposed signal back into its causes: steering movement and cornering. Thus, based on inexpensive and easy-to-install yaw rate sensors, which can also be referred to as inertial sensors, the articulation angle and / or steering angle of the work machine, which can also be referred to as a vehicle, can be reliably determined. The approach presented here can therefore be understood, for example, as a method for determining the steering angle of an articulated vehicle based on yaw rates and / or as an IMU-based articulation angle determination.The approach presented here can provide the user with an easily integrated and cost-effective basis for assistance systems that require the compensation of driving influences or the determination of vehicle movement and / or vehicle position.

[0008] In the determining step, a curve signal can be determined using the first yaw rate signal and the second yaw rate signal. The curve signal can represent a curve radius of the work machine. The angle signal can be determined using the curve signal. Thus, the articulation angle and / or the steering angle of the work machine can be reliably determined.

[0009] In the reading step, a yaw rate signal can be read in as the first yaw rate signal, which represents a component that is opposite to the second yaw rate signal. In the determining step, the second yaw rate can be subtracted from the first yaw rate to determine the angle signal. In particular, in the determining step, the articulation angle can be determined by integrating the difference between the first and second yaw rates. In this way, the yaw rates when steering the work machine can be observed, and the articulation angle can be determined during actual travel or steering movement. When the work machine is in an operational state or is performing a steering movement, the first yaw rates and the second yaw rates can overlap. The articulation angle can be determined from the steering movement. When steering on the spot, the yaw rate signals can, for example only, be completely opposite.If a steering movement overlaps with cornering, the yaw rate signals can no longer be completely counter-directional. The counter-directional component can correspond to the difference, which is used here.

[0010] In the reading step, signals can be read in as the first yaw rate signal and the second yaw rate signal, which represent a common co-rotating component. In the reading step, a speed of the working machine can be read in, whereby in the determining step, a curve radius for cornering of the working machine can be determined using a quotient of the co-rotating component and the speed. In the determining step, the steering angle can be determined using a working machine parameter and the curve radius. The working machine parameter can be a variable of the vehicle geometry, whereby the parameter can represent a distance between the articulated joint and one of the axles. The yaw rates can thus be observed while the working machine is cornering.When driving at a constant steering angle, the first yaw rate signal and the second yaw rate signal can be completely identical, for example only. If cornering is superimposed on a steering movement, the yaw rate signals can no longer be completely identical. The co-rotating component can correspond to an average of both yaw rate signals.

[0011] In the determining step, the steering angle can be determined using a sum of the first rotation rate and the second rotation rate. In particular, a curve radius of a travel of the work machine can be determined using an average of the sum of the first rotation rate and the second rotation rate, and the steering angle can be determined using the curve radius. The articulation angle can be determined from the travel movement.

[0012] A control device is designed to carry out the steps of the method mentioned in corresponding units and to control them additionally or alternatively. The control device can be designed to read in input signals and to determine and provide output signals using the input signals. An input signal can, for example, represent a sensor signal that can be read in via an input interface of the control device. An output signal can represent a control signal or a data signal that can be provided at an output interface of the control device. The control device can be designed to determine the output signals using a processing rule implemented in hardware or software.For example, the control device may comprise a logic circuit, an integrated circuit or a software module and may be implemented as a discrete component or comprised of a discrete component.

[0013] An inertial measuring device for a work machine comprises a first yaw rate sensor arranged on a front section of the work machine and a second yaw rate sensor arranged on a rear section of the work machine, as well as an embodiment of a control device mentioned herein. The yaw rate sensors can be manufactured cost-effectively. Furthermore, the yaw rate sensors can be easily mounted on the work machine in such a way that they are protected from external influences.

[0014] A work machine comprises a front carriage and a rear carriage connected to the front carriage via an articulated steering system, as well as an embodiment of an inertial measuring device mentioned herein. The work machine can be designed as an excavator, dump truck, or wheel loader and can be configured for loading and transporting goods.

[0015] Also advantageous is a computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory, or an optical memory. If the program product or program is executed on a computer or a control device, the program product or program can be used to carry out, implement, and / or control the steps of the method according to one of the embodiments described above.

[0016] The invention is explained in more detail below with reference to the accompanying drawings. They show: Fig. 1 is a schematic representation of an embodiment of a work machine; Fig. 2 is a schematic representation of an embodiment of a work machine; Fig. 3 is a schematic representation of an embodiment of a work machine; Fig. 4 is a diagram explaining an embodiment of a work machine; Fig. 5 is a diagram explaining an embodiment of a work machine; Fig. 6 is a schematic representation of an embodiment of a work machine; Fig. 7 is a diagram explaining an embodiment of a work machine; Fig. 8 is a diagram explaining an embodiment of a work machine; Fig. 9 is a schematic representation of an embodiment of a work machine; Fig. 10 is a diagram explaining an embodiment of a work machine; Fig. 11 is a diagram explaining an embodiment of a work machine; Fig.Fig. 12 shows a flowchart of an embodiment of a method for operating a work machine; and Fig. 13 shows a block diagram of an embodiment of a control device for operating a work machine.

[0017] Identical or similar elements may be provided with identical or similar reference numerals in the following figures. Furthermore, the figures of the drawings, their description, and the claims contain numerous features in combination. A person skilled in the art will appreciate that these features can also be considered individually or combined to form further combinations not explicitly described here.

[0018] Fig. 1 shows a schematic representation of an embodiment of a work machine 100. The work machine 100 is designed as a wheel loader only by way of example; it can optionally also be designed as an excavator, a dump truck, or a similar work machine. The work machine 100 is designed for loading and transporting goods.

[0019] For this purpose, the work machine 100 has a front carriage 105 and a rear carriage 110, wherein the front carriage 105 and the rear carriage 110 are connected to each other via an articulated steering system 115. The position of the articulated steering system 115 is shown merely as an example.

[0020] The work machine 100 has an inertial measuring device 120. The inertial measuring device 120 is designed to measure accelerations and yaw rates. For this purpose, the inertial measuring device 120 has a first yaw rate sensor 125, a second yaw rate sensor 130, and a control device 140. The first yaw rate sensor 125 is arranged on the front section 105 and is designed to detect a yaw rate of the front section 105. The second yaw rate sensor 130 is arranged on the rear section 110 and is designed to detect a yaw rate of the rear section 110. For better visibility, the yaw rate sensors 125, 130 are shown only as examples on the wheels of the work machine 100.

[0021] In other words, Fig. 1 a mobile work machine 100, here a wheel loader, with two yaw rate sensors 125, 130 integrated into the inertial measuring device 120, which can also be referred to as an IMU. The first yaw rate sensor 125 is arranged on the front end 105, i.e., the part of the work machine 100 connected to the front axle, and the second yaw rate sensor 130 is arranged on the rear end 110, i.e., the part of the work machine 100 connected to the rear axle. The use of two sensors 125, 130 in the described installation positions allows the measured yaw rates to be divided into their causes: the steering movement and the driving movement. This results in two possibilities for determining the articulation angle: First, by integrating the articulation angle, which is, however, influenced by drift. Second, the part of the yaw rate attributable to cornering can be used to determine the cornering radius using the known vehicle speed.In the next step, the bend angle of the working machine 100 can be determined from this curve radius using the known geometry of the working machine 100. The advantage here is that the sensor drift of the yaw rate sensor 125, 130 has no significant influence.

[0022] The approach presented here can be demonstrated if the steering angle of the work machine 100 can be determined without direct sensor technology, but rather by using a yaw rate sensor 125, 130, which can also be referred to as an inertial sensor. The approach presented here can be used for excavators, telehandlers, dump trucks, and wheel loaders where the steering angle is required to compensate for driving influences.

[0023] Fig. 2 shows a schematic representation of an embodiment of a work machine 100. The work machine 100 is similar to the work machine from Fig. 1 except that only the chassis of the working machine 100 with the wheels is shown.

[0024] The work machine 100 shown here is depicted stationary, with the wheels of the front carriage 105 and the wheels of the rear carriage 110 in a straight position, so that the work machine has an articulation angle of zero degrees. A double arrow indicates, merely as an example, a distance of 200 between the rear carriage 110 and the articulated steering 115.

[0025] In other words, Fig. 2 An examination of the turning rate during steering. To illustrate the influence of a steering movement on the turning rate, we consider the situation of a steering movement while stationary, assuming the vehicle speed is zero kilometers per hour.

[0026] Fig. 3 shows a schematic representation of an embodiment of a work machine 100. The work machine 100 is similar to the work machine from Fig. 2 except that the work machine 100 is shown in a steered state.

[0027] The front tires 205 of the front vehicle 105 and the rear tires 210 of the rear vehicle 110 are turned in opposite directions to each other, so that the articulated steering 115 is bent and has an articulation angle 315 of only 20 degrees, for example.

[0028] Fig. 4 shows a diagram 400 to explain an embodiment of a working machine 100. The diagram 400 represents, for example, the rotation rates 435, 430 of the working machine from Fig. 2 . The diagram 400 can also be referred to as a sensor data diagram.

[0029] The abscissa represents time in seconds, and the ordinate represents the yaw rate in degrees per second. Diagram 400 displays the sensor data from the yaw rate sensors.

[0030] From second one, the yaw rate 425 of the first yaw rate sensor increases, for example, to five degrees, while the yaw rate 430 of the second yaw rate sensor drops to minus five degrees at the same time. Over time, the degree of the yaw rate 425 of the front of the vehicle decreases until the yaw rate 425 has a bend angle of zero degrees at second four. At the same time, the degree of the yaw rate 430 of the rear of the vehicle increases until the yaw rate 430 also has a bend angle of zero degrees at second four. The yaw rates 425 and 430 partially exhibit a parabolic curve, for example only, with the yaw rates 425 and 430 having the same degree, namely zero degrees, from second zero to second one and again the same degree, also zero degrees, from second four onwards. Between second zero and second four, the yaw rates 425 and 430 are in opposite directions and each performs half a steering movement.

[0031] Fig. 5 shows a diagram 500 to explain an embodiment of a work machine 100. The diagram 500 represents, for example, the articulation angle 315 of the work machine from Fig. 3 . Diagram 500 may also be referred to as a diff-and-integral-diff diagram. In other words, diagram 500 represents stationary steering and may also be referred to as a yaw rate difference and integral of yaw rate difference diagram.

[0032] The time is plotted in seconds on the abscissa and the angle value is plotted in degrees on the ordinate. A difference 505 of the rotation rates of the front and rear of the vehicle is plotted in degrees per second and the integral in degrees.

[0033] The degree of the bend angle 315 increases continuously from second one until the bend angle 315 has a value of 20 degrees at second four.

[0034] The difference 505 between the rotation rates of the front and rear of the vehicle represents the entire steering movement and has a value of zero degrees per second from second zero to second one. From second one, the value increases to, for example, only eleven degrees per second and then decreases continuously until the difference 505 reaches a value of zero degrees from second four.

[0035] The difference 505 between the yaw rates of both yaw rate sensors can be determined using the following equation (1) and describes the entire steering movement. By subtracting, the steering movement can also be determined while driving. To do this, the second yaw rate is subtracted from the first yaw rate: Ω _ Fahrt = Δω = ω Front − ω Back

[0036] The integral of Δω corresponds to the change in the steering angle, as shown in the following equation (2) and the Fig. 5 shows: Knickwinkel = ∫ Δω dt

[0037] In other words, the rotation rates of the rotation rate sensors on the front and rear of the vehicle are opposite, see also Fig. 4 , and each perform half the steering movement. The difference 505 between the two sensors Δω, see equation 1, describes the entire steering movement. The integral of Δω corresponds to the change in the steering angle, see equation 2 and Fig. 5 .

[0038] Fig. 6 shows a schematic representation of an embodiment of a work machine 100.

[0039] The work machine 100 is shown only as an example in a curve, wherein the curve is shown by dashed lines and thus the work machine 100 is shown only as an example twice at different times. In other words, in Fig. 6 To illustrate the influence of cornering on the yaw rate, the situation of cornering at a constant speed and steering angle is considered.

[0040] The work machine 100 has, for example, a bend angle 315 of 20 degrees, at a speed of, for example, 20 kilometers per hour.

[0041] The travel radius 600 is shown by an arrow for illustrative purposes only. The direction of travel 605 is also shown by an arrow. The wheels 205, 210 of the front section 105 and the rear section 110 are turned in the same direction.

[0042] Fig. 7 shows a diagram 700 for explaining an embodiment of a working machine 100. The diagram 700 represents, for example, the rotation rates 425, 430 of the working machine from Fig. 6 Diagram 700 can also be referred to as a sensor data diagram. It examines the rotation rates 425 and 430 during cornering.

[0043] The abscissa represents time in seconds and the ordinate represents the rotation rate in degrees per second.

[0044] The rotation rates 425, 430 of the rotation rate sensors are the same and represent the Fig. 6 shown rotation of the working machine 100.

[0045] The curve radius R corresponds to the quotient of the yaw rate and the speed; see equation 1: konst . Lenkwinkel ⇒ ω = ω Front = ω Back R = v ω

[0046] Fig. 8 shows a diagram 800 for explaining an embodiment of a work machine 100. The diagram 800 can also be referred to as a steering angle_deg, R_m diagram.

[0047] The abscissa represents time in seconds and the ordinate represents the angle in degrees.

[0048] The desired steering angle 805 can be determined by including the vehicle geometry 810, see equation 2: Lenwinkel = 2 ∗ atan l R

[0049] Here, / represents a distance between the articulated joint and one of the axes, as shown only as an example in Fig. 2 is shown. R represents the radius in meters.

[0050] Fig. 9 shows a schematic representation of an embodiment of a work machine 100.

[0051] The work machine 100 is shown only by way of example in a driving movement or a steering movement, wherein a course of the driving movement or the steering movement is shown by means of a line and thus the work machine 100 is shown only twice by way of example.

[0052] The direction of travel 905 is shown only as an example using an arrow.

[0053] Fig. 10 shows a diagram 1000 to explain an embodiment of a working machine 100. The diagram 1000 represents, for example, the rotation rates 425, 430 of the working machine from Fig. 9 Diagram 1000 can also be referred to as the sensor data diagram. The articulation angle 315 is determined from the steering movement during real driving.

[0054] The abscissa represents time in seconds and the ordinate represents the angle in degrees.

[0055] The rotation rates 425 and 430 overlap during real driving during steering movements and cornering. This overlap shows Fig. 10 .

[0056] The superimposed rotation rates 425, 430 from the steering movements can be separated as follows: The difference between the rotation rates 425, 430 corresponds to the steering movement, from which the articulation angle 315 can be determined by integration: ω _ Lenk = Δω = ω Front − ω Back Knickwinkel = ∫ Δω dt

[0057] Fig. 11 shows a diagram 1100 for explaining an embodiment of a working machine 100. The diagram 1100 represents, for example, the rotation rates 425, 430 of the working machine from Fig. 9 Diagram 1100 can also be called the calculated steering angle diagram. It calculates the steering angle from the actual driving motion.

[0058] The abscissa represents time in seconds and the ordinate represents the angle in degrees.

[0059] The radius 1105 of the working machine is given in meters. A curve of an actual steering angle 1110 and a determined steering angle 1115 is also shown.

[0060] In other words, the average of the rotation rates of the front and rear car corresponds to the cornering, from which the articulation angle can be determined: ω Fahrt = ω mean = ω Front + ω Back / 2 R = v ω Lenwinkel = 2 ∗ atan l R

[0061] Fig. 12 shows a flowchart of an embodiment of a method 1200 for operating a work machine. The work machine can be a work machine from one of the figures described above.

[0062] The method 1200 comprises a step 1205 of reading and a step 1210 of determining.

[0063] In step 1205 of the reading process, a first yaw rate signal from the first yaw rate sensor and a second yaw rate signal from the second yaw rate sensor are read in. The first yaw rate signal represents a yaw rate of the front vehicle, and the second yaw rate signal represents a yaw rate of the rear vehicle.

[0064] In step 1210 of determining, an angle signal is determined using the first yaw rate signal and the second yaw rate signal. The angle signal represents at least one articulation angle and, additionally or alternatively, a steering angle of the work machine.

[0065] According to one embodiment, in step 1210 of determining, a curve signal is determined using the first yaw rate signal and the second yaw rate signal. The curve signal represents a curve radius of the work machine. The angle signal is then determined using the curve signal.

[0066] According to one embodiment, in step 1205 of reading, a yaw rate signal is read in as the first yaw rate signal, representing a yaw rate opposite to the second yaw rate signal. Subsequently, in step 1210 of determining, the second yaw rate is subtracted from the first yaw rate to determine the angle signal. Additionally, in step 1210 of determining, the bend angle is determined using an integration of the difference between the first yaw rate and the second yaw rate.

[0067] In step 1205 of reading, according to an additional or alternative embodiment, signals are read in as the first yaw rate signal and the second yaw rate signal, each representing identical yaw rates. In addition, in step 1205 of reading, a speed of the work machine is read in. Subsequently, in step 1210 of determining, a curve radius of a cornering movement of the work machine is determined using a quotient of one of the yaw rates and the speed. In addition, in step 1210 of determining, the steering angle is determined using a work machine parameter and the curve radius.

[0068] In step 1210 of determining, the steering angle is determined using a sum of the first rotation rate and the second rotation rate. In addition, a curve radius of a travel of the work machine is determined using an average of the sum of the first rotation rate and the second rotation rate. Furthermore, in step 1210 of determining, the steering angle is determined using the curve radius.

[0069] Fig. 13 shows a block diagram of an embodiment of a control device 140 for operating a work machine. The control device 140 is designed to control the method according to claim 12 or a similar method.

[0070] The device 140 has a unit 1305 for reading and a unit 1310 for determining.

[0071] The reading unit 1305 is configured to read in a first yaw rate signal 1315 and a second yaw rate signal 1330. The first yaw rate signal 1315 is read in via an interface to a first yaw rate sensor 125, and the second yaw rate signal 1330 is read in via an interface to a second yaw rate sensor 130. The first yaw rate signal 1315 represents a yaw rate of the front of the vehicle, and the second yaw rate signal 1330 represents a yaw rate of the rear of the vehicle.

[0072] The determining unit 1310 is configured to determine an angle signal 1320 using the rotation rate signals 1315, 1330. The angle signal 1320 represents at least one articulation angle and / or a steering angle of the work machine.

[0073] According to one embodiment, the determining unit 1310 is configured to determine a curve signal 1340 using the first rotation rate signal and the second rotation rate signal. The curve signal 1340 represents a curve radius of the work machine, and the angle signal 1320 is determined using the curve signal 1340.

[0074] According to one embodiment, the reading unit 1305 is configured to read in a yaw rate signal as the first yaw rate signal 1315, which represents a yaw rate opposite to the second yaw rate signal 1330. Subsequently, in the determining unit 1310, the second yaw rate is subtracted from the first yaw rate to determine the angle signal 1320. In the determining unit 1310, the bending angle is determined using an integration of the difference between the first and second yaw rates.

[0075] The reading unit 1305 is additionally configured, for example, to read in signals as the first yaw rate signal 1315 and the second yaw rate signal 1330, each representing identical yaw rates. Additionally, a speed of the work machine is read in the reading unit 1305. Subsequently, in the determining unit 1310, a curve radius for cornering of the work machine is determined using a quotient of one of the yaw rates and the speed. In the determining unit 1310, the steering angle is determined using a work machine parameter and the curve radius.

[0076] According to one embodiment, the determining unit 1310 is configured to determine the steering angle using a sum of the first rotation rate and the second rotation rate. In particular, a curve radius of a travel of the work machine is determined using an average value from the sum of the first rotation rate and the second rotation rate, and the steering angle is determined using the curve radius.

[0077] The embodiments shown are only examples and can be combined with each other. Bezugszeichenliste

[0078] 100Working machine 105Front end 110Rear end 115Articulated steering 120Inertial measuring device 125First yaw rate sensor 130Second yaw rate sensor 140Control device 200Distance 205Front wheels 210Rear wheels 315Bending angle 400Diagram 425Yaw rates of the front end 430Yaw rates of the rear end 500Diagram 505Difference in rotation rates 600Bicycle radius 605Direction of travel 700Diagram 800Diagram 805Steering angle 810Vehicle geometry 905Direction of travel 1000Diagram 1100Diagram 1105Radius 1110Real steering angle 1115Determined steering angle 1200Procedure for operating a work machine 1205Step of reading 1210Step of determining 1305 Unit for reading 1310 Unit for determining 1315 First yaw rate signal 1320 Angle signal 1330 Second yaw rate signal 1340 Curve signal

Claims

1. Method (1200) for operating a work machine (100), wherein the work machine (100) has a front section (105) and a rear section (110) connected to the front section (105) via an articulated steering system (115), and has an inertial measuring device (120), wherein the inertial measuring device (120) has a first yaw rate sensor (125) arranged on the front section (105) and a second yaw rate sensor (130) arranged on the rear section (110), wherein the method (1200) comprises the following steps: reading in (1205) a first yaw rate signal (1315) from the first yaw rate sensor (125), wherein the first yaw rate signal (1315) represents a yaw rate (425) of the front section (105), and reading in (1205) a second yaw rate signal (1330) from the second Angular rate sensor (130), wherein the second angular rate signal (1330) represents a angular rate (430) of the rear vehicle (110);and determining (1210) an angle signal using the first rotation rate signal (1315 1330) and the second rotation rate signal (1315 1330), wherein the angle signal (1320) represents at least one articulation angle and / or a steering angle of the work machine (100); 2. The method (1200) according to claim 1, wherein in the determining step (1210), a curve signal (1340) is determined using the first rotation rate signal (1315) and the second rotation rate signal (1330), wherein the curve signal (1340) represents a curve radius of the work machine (100); and wherein the angle signal (1320) is determined using the curve signal (1340).

3. Method (1200) according to one of the preceding claims, wherein in step (1205) of reading in, a rotation rate signal (1315) is read in as the first rotation rate signal (1315), which represents a component opposite to the second rotation rate signal (1330), wherein in step (1210) of determining, the second rotation rate (430) is subtracted from the first rotation rate (425) in order to determine the angle signal (1320), in particular wherein in step (1210) of determining, the bending angle is determined using an integration of the difference between the first rotation rate (425) and the second rotation rate (430).

4. Method (1200) according to one of the preceding claims, wherein in the step (1205) of reading in, signals are read in as the first yaw rate signal (1315) and the second yaw rate signal (1330), which represent a common co-rotating component, and wherein in the step (1205) of reading in, a speed of the work machine (100) is read in, wherein in the step (1210) of determining, a curve radius of a curve travel of the work machine (100) is determined using a quotient of the co-rotating component and the speed, wherein in the step (1210) of determining, the steering angle is determined using a work machine parameter and the curve radius, in particular wherein the co-rotating component is determined using an average value from a sum of the first yaw rate (425) and the second yaw rate (430).

5. Control device (140) which is designed to carry out and / or control the steps (1205, 1210) of the method (1200) according to one of the preceding claims 1 to 4 in corresponding units (1305, 1310).

6. Inertial measuring device (120) for a work machine (100) with a first yaw rate sensor (125) arranged on a front carriage (105) of the work machine (100) and a second yaw rate sensor (130) arranged on a rear carriage (110) of the work machine (100), and a control device (140) according to claim 5.

7. Work machine (100) with a front carriage (105) and with a rear carriage (110) connected to the front carriage (105) via an articulated steering system (115) and with an inertial measuring device (120) according to claim 6.

8. Computer program product with program code for carrying out the method (1200) according to one of the preceding claims 1 to 4, when the computer program product is executed on a control device (140).

9. A machine-readable storage medium on which the computer program according to claim 8 is stored.

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