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Method and apparatus for estimating yaw rate in a wheeled vehicle and stability system

  • US 6,829,524 B2
  • Filed: 08/20/2002
  • Issued: 12/07/2004
  • Est. Priority Date: 08/20/2001
  • Status: Expired due to Fees
First Claim
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1. An apparatus for providing data from which a yaw rate for a heeled land vehicle can be estimated, the apparatus comprising:

  • a pair of spaced apart accelerometers disposed along a common longitudinal axis of the wheeled land vehicle with one of the accelerometers disposed forwardly of a center of gravity of the wheeled land vehicle and the other one of the accelerometers disposed rearwardly of the center of gravity of the wheeled land vehicle wherein each one of the accelerometers has a sensing axis that is disposed transversely and generally perpendicularly relative to the common longitudinal axis of the wheeled land vehicle; and

    a processor that processes signals from both of the accelerometers to obtain an estimate of yaw rate without processing any signal from a gyro, wherein the processor is configured to obtain the estimate of rate of change of yaw rate that is equal to a first result of acceleration provided by the accelerometer that is disposed forwardly of the center of gravity of the wheeled land vehicle minus an acceleration provided by the accelerometer that is dispose rearwardly of the center gravity of the wheeled land vehicle divided by a second result that is the sum of a first distance that is a distance between the accelerometer that is disposed forwardly of the center of gravity of the wheeled land vehicle and the center of gravity that is added to a second distance that is a distance between the accelerometer that is disposed rearwardly of the center of gravity of the wheel land vehicle and the center of gravity.

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