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Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine longitudinal velocity

  • US 8,712,639 B2
  • Filed: 08/30/2006
  • Issued: 04/29/2014
  • Est. Priority Date: 08/30/2006
  • Status: Active Grant
First Claim
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1. A method of controlling a vehicle, the method carried out in a controller on the vehicle and comprising the steps of:

  • determining an acceleration-based longitudinal vehicle velocity using at least an input from a vertical accelerometer, a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity and a pitch angle in a moving road frame, the pitch angle in a moving road frame being determined in response to a global pitch angle and a relative pitch angle;

    determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors;

    combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity; and

    controlling a vehicle with the final longitudinal velocity.

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