Method and apparatus for vehicle yaw rate estimation
First Claim
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1. A method of estimating vehicle yaw rate, comprising:
- sensing lateral acceleration of the vehicle at two locations on the vehicle;
determining a kinematic estimate of yaw rate (r0) in accordance with the following formula;
##EQU13## where "sign" represents the sign of the variable (ay), ay is the vehicle acceleration at its center of gravity (CG), Ly is the distance between the two accelerometers along the width of the vehicle, and ay1 and ay2 represent the sensed lateral accelerations;
determining the lateral acceleration (ay) at the CG in accordance with the following formula;
##EQU14## measuring steering angle (δ
) of the vehicle steering wheel;
measuring the vehicle forward speed (u0); and
estimating vehicle yaw rate based upon r0, ay, δ and
u0.
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Abstract
A method is provided for a vehicle yaw rate estimation using two accelerometers and a steer angle sensor. The new method combines two complimentary approaches to yaw rate estimation using accelerometers. A kinematic yaw rate estimate is weighted with a vehicle lateral acceleration at the center of gravity, and steering angle and vehicle forward speed are incorporated into a Kalman filter for estimating vehicle yaw rate based upon the kinematic yaw rate estimate, the lateral acceleration at the center of gravity, the vehicle steering angle, and the vehicle forward speed. The method incorporates use of either one or two accelerometers.
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Citations
9 Claims
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1. A method of estimating vehicle yaw rate, comprising:
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sensing lateral acceleration of the vehicle at two locations on the vehicle; determining a kinematic estimate of yaw rate (r0) in accordance with the following formula;
##EQU13## where "sign" represents the sign of the variable (ay), ay is the vehicle acceleration at its center of gravity (CG), Ly is the distance between the two accelerometers along the width of the vehicle, and ay1 and ay2 represent the sensed lateral accelerations;determining the lateral acceleration (ay) at the CG in accordance with the following formula;
##EQU14## measuring steering angle (δ
) of the vehicle steering wheel;
measuring the vehicle forward speed (u0); andestimating vehicle yaw rate based upon r0, ay, δ and
u0. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for estimating vehicle yaw rate, comprising:
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first and second lateral accelerometers secured to the vehicle for measuring lateral acceleration (ay1,ay2); means for measuring steering angle (δ
) of the vehicle steering wheel;means for measuring the vehicle forward speed (u0); a microcontroller in electrical communication with said accelerometers and with said means for measuring steering angle and forward speed, said microcontroller being operative to; determine a kinematic estimate of yaw rate (r0) in accordance with the following formula;
##EQU15## determine the lateral acceleration (ay) at the CG in accordance with the following formula;
##EQU16## estimate vehicle yaw rate based upon r0, ay, δ and
u0. - View Dependent Claims (7, 8)
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9. A method of estimating vehicle yaw rate, comprising:
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sensing lateral acceleration (aCG) of the vehicle at the vehicle center of gravity (CG); measuring steering angle (δ
) of the vehicle steering wheel;measuring the vehicle forward speed (u0); using a Kalman filter to estimate vehicle yaw rate based upon aCG, δ
, and u0 ; andincorporating gain scheduling into the yaw rate estimate.
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Specification