×

Enhanced yaw rate estimation and diagnosis for vehicular applications

  • US 6,623,089 B2
  • Filed: 08/28/2002
  • Issued: 09/23/2003
  • Est. Priority Date: 08/29/2001
  • Status: Expired due to Term
First Claim
Patent Images

1. A method for estimating the yaw rate of a vehicle, comprising:

  • receiving at least one signal indicative of a vehicular lateral acceleration;

    receiving at least one signal indicative of a vehicular velocity;

    providing a plurality of yaw rate estimators;

    selecting a first yaw rate estimator from said plurality of yaw rate estimators in response to at least one of said received signals;

    estimating a first yaw rate in accordance with the selected said first yaw rate estimator and a corresponding at least one of said received signals;

    measunng a yaw rate with a yaw rate sensor;

    comparing said measured yaw rate with said first estimated yaw rate;

    detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within a selected threshold value; and

    selecting a second yaw rate estimator from said plurality of yaw rate estimators upon said detection of said inaccurate yaw rate.

View all claims
  • 9 Assignments
Timeline View
Assignment View
    ×
    ×