Patent ID: 6351694
Filing Date: 2002-02-26
Classification: B60T

Abstract:
A method of detecting a bank angle for use in a yaw control system for a motor vehicle, said method comprising the steps of:providing a first signal corresponding to a lateral acceleration of the vehicle; calculating a first bank angle estimate dependent on said first signal; providing a second signal corresponding to a yaw rate of the vehicle; calculating a second bank angle estimate dependent on said second signal; calculating a third bank angle estimate dependent on both said first and second signals; calculating a dynamic compensation factor based as a function of said first bank angle estimate, said second bank angle estimate and said third bank angle estimate; decomposing the third bank angle estimate into a plurality of third bank angle frequency layers; reducing each of the plurality of third bank angle frequency layers in response to a multiplicative factor, said multiplicative factor being a function of said dynamic compensation factor to obtain a plurality of reduced third bank angles; calculating a final bank angle bias estimate based on a sum of the plurality of reduced third bank angles.