Method and apparatus for determining lateral velocity of a motor vehicle in closed form for all road and driving conditions
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United States of America Patent
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Apr 20, 2004
Grant Date -
Nov 13, 2003
app pub date -
May 7, 2002
filing date -
May 7, 2002
priority date (Note) -
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Abstract
An apparatus for determining lateral velocity of an automotive vehicle (10) includes a vehicle speed sensor (20), a roll rate sensor (34), a yaw rate sensor (28), a lateral acceleration sensor (32), and a longitudinal acceleration sensor (36). A controller (26) is coupled to the sensors and determines a steady state pitch angle and a steady state roll angle as a function of the lateral acceleration signal, the longitudinal acceleration signal, the yaw rate signal, and the vehicle speed signal. The controller determines a sliding index as a function of the steady state pitch signal, the steady state roll angle, and the roll rate signal. The controller (26) determines lateral velocity as a function of the sliding index and controls the vehicle lateral motion based on the estimated lateral velocity.
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