Method for determining the yaw velocity of a vehicle
First Claim
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1. A method for determining a yaw Velocity of a vehicle, which comprises:
- measuring wheel speeds with wheel-speed sensors on a right and a left non-driven wheel;
determining a yaw velocity of the vehicle from a comparison of the measurements of the right wheel speed vr and the left wheel speed vl; and
correcting the wheel speeds vr and vl by calculating a correction factor q=vrs/vls when the vehicle is driving in a straight line and using the correction factor q to correct a ratio vr/vl between the right and left wheel speeds, where vrs and vls are the wheel speeds when driving in a straight line.
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Abstract
A method for determining the yaw velocity of a vehicle is used, in particular, for adaptive driving-speed control. The yaw velocity is calculated from measurements of wheel speed determined by wheel-speed sensors on a right and on a left non-driven wheel by introducing a correction term with a correction factor with which differing tire wear as well as different tire pressure and other interfering parameters can be eliminated.
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Citations
6 Claims
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1. A method for determining a yaw Velocity of a vehicle, which comprises:
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measuring wheel speeds with wheel-speed sensors on a right and a left non-driven wheel;
determining a yaw velocity of the vehicle from a comparison of the measurements of the right wheel speed vr and the left wheel speed vl; and
correcting the wheel speeds vr and vl by calculating a correction factor q=vrs/vls when the vehicle is driving in a straight line and using the correction factor q to correct a ratio vr/vl between the right and left wheel speeds, where vrs and vls are the wheel speeds when driving in a straight line. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification