Patent ID: 6169951
Filing Date: 2001-01-02
Classification: B60T

Abstract:
A method of estimating vehicle yaw rate in a vehicle stability enhancement control configured to produce a corrective vehicle yaw moment based on a deviation of the vehicle yaw rate from a desired value, where the vehicle has a pair of un-driven wheels subject to wheel slip during driver braking of the vehicle, and a reference velocity corresponding to an instantaneous velocity of a center of gravity of the vehicle, the method comprising the steps of: measuring speeds of the un-driven wheels of the vehicle; estimating the vehicle yaw rate according to a first method based on a difference between the measured wheel speeds; detecting driver braking of the vehicle; and during driver braking, estimating the vehicle yaw rate according to a second method that compensates for wheel slip of the un-driven wheels, based on the measured wheel speeds, the vehicle reference velocity, and a previous estimate of the vehicle yaw rate.