Method and apparatus for vehicle yaw rate estimation
US5878357A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 3, 1996 |
| Grant date | Mar 2, 1999 |
| Priority date | — |
| Expiry date | Sep 3, 2016 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60T2250/03
- WIPO fieldTransport
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.