Vehicle yaw rate estimation system

  • US 9,764,744 B2
  • Filed: 02/24/2016
  • Issued: 09/19/2017
  • Est. Priority Date: 02/25/2015
  • Status: Active Grant
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First Claim
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1. A yaw rate estimation system for a vehicle, said yaw rate estimation system comprising:

  • a yaw rate sensor disposed at a vehicle equipped with said yaw rate estimation system;

    wheel sensors disposed at wheels of the equipped vehicle;

    an acceleration sensor disposed at the equipped vehicle and operable to determine lateral acceleration of the equipped vehicle;

    a steering wheel angle sensor disposed at the equipped vehicle and operable to determine an angle of a steering wheel of the equipped vehicle;

    a control system disposed at the equipped vehicle and receiving inputs indicative of (i) a first yaw rate determined by said yaw rate sensor of the equipped vehicle, (ii) a second yaw rate derived from said wheel sensors of the equipped vehicle, (iii) a third yaw rate derived from a lateral acceleration of the equipped vehicle as determined by said acceleration sensor, and (iv) a fourth yaw rate derived from a steering wheel angle, wheel angle and rate of change of steering wheel angle as determined by said steering wheel angle sensor; and

    wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle, and wherein the estimated actual yaw rate is derived from said inputs.

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