Patent ID: 7848864
Filing Date: 2010-12-07
Classification: B60W

Abstract:
1. A system for estimating vehicle states of yaw-rate, roll-rate, roll angle and lateral velocity, said system comprising: a steering angle sensor providing a steering angle signal of a steering angle of the vehicle; a yaw-rate sensor for providing a yaw-rate signal of the yaw-rate of the vehicle; a roll-rate sensor for providing a roll-rate signal of the roll-rate of the vehicle; a speed sensor for providing a speed signal of the speed of the vehicle; a lateral acceleration sensor for providing a lateral acceleration signal of the lateral acceleration of the vehicle; a Kalman filter observer responsive to the steering angle signal, the yaw-rate signal, the roll-rate signal, the speed signal and the lateral acceleration signal, said observer using Kalman filtering to provide an estimated yaw-rate signal, an estimated roll-rate, an estimated roll angle and an estimated lateral acceleration; and a lateral velocity estimation processor responsive to the roll-rate signal, the estimated roll angle signal, the estimated lateral velocity signal and the lateral acceleration signal, said lateral velocity estimation processor calculating a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region.