Apparatus for Estimating Yaw Rate

• US 20080189013A1
• Filed: 01/28/2008
• Published: 08/07/2008
• Est. Priority Date: 02/01/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: IWAZAKI, Katsuhiko
• Granted Patent: US 8,041,480 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

A future yaw rate γ(t) is estimated according to a current yaw rate γ(t) and a steering angular velocity. As compared with directly detecting the yaw rate γ(t) from a vehicle body, calculating the yaw rate γ(t) from a steering operation can attain a yaw rate having a phase advanced by a time lag Δt, whereby the future yaw rate γ(t) can be estimated accurately.

Claims

1. An apparatus for estimating yaw rate, the apparatus comprising:

a yaw rate acquiring part for acquiring a current yaw rate of a vehicle;

a steering angle acquiring part for acquiring a steering angle of the vehicle;

a steering angular velocity calculation unit for calculating a steering angular velocity according to the steering angle; and

an estimation unit for estimating a yaw rate after a lapse of a predetermined time according to the current yaw rate and steering angular velocity.

2. An apparatus for estimating yaw rate according to claim 1, wherein the estimation unit estimates the yaw rate after the lapse of the predetermined time to be a value obtained by adding the steering angular velocity multiplied by the predetermined time to the current yaw rate.

3. An apparatus for estimating yaw rate according to claim 1, wherein the steering angle acquiring part is a yaw rate sensor.

4. An apparatus for estimating yaw rate according to claim 1, wherein the steering angle acquiring part is a steering angle sensor.

5. An apparatus for estimating yaw rate according to claim 1, wherein the steering angular velocity calculation unit and the estimation unit are constituted by an electronic control unit.