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Method for determining the yaw velocity of a vehicle

  • US 6,304,807 B1
  • Filed: 06/12/1998
  • Issued: 10/16/2001
  • Est. Priority Date: 06/12/1997
  • Status: Expired due to Term
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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