Active brake control including estimation of yaw rate and slip angle
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United States of America Patent
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Dec 19, 2000
Grant Date -
N/A
app pub date -
Nov 19, 1998
filing date -
Nov 19, 1998
priority date (Note) -
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status (Latency Note)
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Abstract
An improved vehicle active brake control based on an estimate of vehicle yaw rate and slip angle, wherein the estimate is based on a weighted average of two yaw rate values developed with two different estimation techniques. In general, the first estimate of yaw rate is based on the relative velocity of the un-driven wheels, and the second estimate is based on a measure of lateral acceleration. Confidence levels in each estimate are determined and used to form a third or preliminary yaw rate estimate based on a weighted average of the first and second estimates, and the third estimate is supplied to a closed-loop nonlinear dynamic observer which develops the final estimate of yaw rate, along with estimates of lateral velocity and side-slip angle.
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