Patent ID: 6282479
Filing Date: 2001-08-28
Classification: B60T

Abstract:
A method of estimating the yaw rate in a vehicle subject to roll forces deflecting the radii of the vehicle's tires during yaw, said vehicle having a four wheel brake system, a velocity sensor at each wheel, two non-driven wheels and a brake actuation system adapted to manage the yaw rate of the vehicle in response to the output of a programmed microprocessor issuing brake actuator control signals at regular processing intervals, said method comprising:making a first estimate of yaw rate of said vehicle by sensing the velocities of said non-driven wheels, determining the difference between said velocities, and dividing said difference by the track of said wheels, andmodifying said estimated yaw rate by application of an experimentally-determined roll correction factor for said vehicle that is a function of the velocity of the vehicle, the mass of the vehicle, the height of the roll center of said wheels with their tires, the track of said non-driven wheels, and the radius and stiffness of said tires.