Method and apparatus for vehicle yaw rate estimation
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United States of America Patent
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Mar 2, 1999
Grant Date -
N/A
app pub date -
Sep 3, 1996
filing date -
Sep 3, 1996
priority date (Note) -
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Abstract
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.
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