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Method and apparatus for vehicle yaw rate estimation

  • US 5,878,357 A
  • Filed: 09/03/1996
  • Issued: 03/02/1999
  • Est. Priority Date: 09/03/1996
  • Status: Expired due to Term
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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