초록 ▼

A method is provided for a vehicle yaw rate estimation using two accelerometers and a steer angle sensor. The new method combines two complimentary approaches to yaw rate estimation using accelerometers. A kinematic yaw rate estimate is weighted with a vehicle lateral acceleration at the center of g

A method is provided for a vehicle yaw rate estimation using two accelerometers and a steer angle sensor. The new method combines two complimentary approaches to yaw rate estimation using accelerometers. A kinematic yaw rate estimate is weighted with a vehicle lateral acceleration at the center of gravity, and steering angle and vehicle forward speed are incorporated into a Kalman filter for estimating vehicle yaw rate based upon the kinematic yaw rate estimate, the lateral acceleration at the center of gravity, the vehicle steering angle, and the vehicle forward speed. The method incorporates use of either one or two accelerometers.

대표청구항 ▼

[ What is claimed is:] [1.] A method of estimating vehicle yaw rate, comprising:sensing lateral acceleration of the vehicle at two locations on the vehicle;determining a kinematic estimate of yaw rate (r.sub.0) in accordance with the following formula: ]EQU13 ] where "sign" represents the sign of th

[ What is claimed is:] [1.] A method of estimating vehicle yaw rate, comprising:sensing lateral acceleration of the vehicle at two locations on the vehicle;determining a kinematic estimate of yaw rate (r.sub.0) in accordance with the following formula: ]EQU13 ] where "sign" represents the sign of the variable (a.sub.y), a.sub.y is the vehicle acceleration at its center of gravity (CG), L.sub.y is the distance between the two accelerometers along the width of the vehicle, and a.sub.y1 and a.sub.y2 represent the sensed lateral accelerations;determining the lateral acceleration (a.sub.y) at the CG in accordance with the following formula: ]EQU14 ] measuring steering angle (.delta.) of the vehicle steering wheel; measuring the vehicle forward speed (u.sub.0); andestimating vehicle yaw rate based upon r.sub.0, a.sub.y, .delta. and u.sub.0.