Patent ID: 6138066
Filing Date: 2000-10-24
Classification: B60T,B62D,G01C

Abstract:
Method of determining quantities relating to the driving behavior of a vehicle, wherein the vehicle includes a transverse accelerometer (a.sub.qm) fixed to the vehicle, a wheel sensor on each vehicle wheel for measuring the wheel speed (v.sub.vl, v.sub.vr, v.sub.hl, v.sub.hr), and a yaw rate sensor for measuring the yaw velocity (.psi.), comprising the steps of:measuring, in vehicle coordinates (x', y', z'), a value of the measured transverse acceleration (a.sub.qm) of the vehicle,relating the vehicle coordinates to a value (a.sub.q) of transverse acceleration which is calculated in ground-related coordinates (x, y, z), wherein [the]a transversal inclination (a.sub.q) of the vehicle in relation to the ground-related coordinates (x, y, z) is determined by solution of the equationa.sub.qm =a.sub.q cos .alpha..sub.q -g sin .alpha..sub.qwherein:g designates the gravitational constanta.sub.q is a function of at least one of the wheel speeds (v.sub.vl, v.sub.vr, v.sub.hl, v.sub.hr) or yaw velocity (.psi.).