Apparatus for Estimating Yaw Rate
First Claim
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1. An apparatus for estimating yaw rate, the apparatus comprising:
- a yaw rate acquiring part for acquiring a current yaw rate of a vehicle;
a steering angle acquiring part for acquiring a steering angle of the vehicle;
a steering angular velocity calculation unit for calculating a steering angular velocity according to the steering angle; and
an estimation unit for estimating a yaw rate after a lapse of a predetermined time according to the current yaw rate and steering angular velocity.
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Abstract
A future yaw rate γ(t) is estimated according to a current yaw rate γ(t) and a steering angular velocity. As compared with directly detecting the yaw rate γ(t) from a vehicle body, calculating the yaw rate γ(t) from a steering operation can attain a yaw rate having a phase advanced by a time lag Δt, whereby the future yaw rate γ(t) can be estimated accurately.
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Citations
5 Claims
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1. An apparatus for estimating yaw rate, the apparatus comprising:
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a yaw rate acquiring part for acquiring a current yaw rate of a vehicle; a steering angle acquiring part for acquiring a steering angle of the vehicle; a steering angular velocity calculation unit for calculating a steering angular velocity according to the steering angle; and an estimation unit for estimating a yaw rate after a lapse of a predetermined time according to the current yaw rate and steering angular velocity. - View Dependent Claims (2, 3, 4, 5)
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Specification