Patent ID: 6623089
Filing Date: 2003-09-23
Classification: B60T,B62D

Abstract:
A method for estimating the yaw rate of a vehicle, comprising:receiving at least one signal indicative of a vehicular lateral acceleration; receiving at least one signal indicative of a vehicular velocity; providing a plurality of yaw rate estimators; selecting a first yaw rate estimator from said plurality of yaw rate estimators in response to at least one of said received signals; estimating a first yaw rate in accordance with the selected said first yaw rate estimator and a corresponding at least one of said received signals; measunng a yaw rate with a yaw rate sensor; comparing said measured yaw rate with said first estimated yaw rate; detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within a selected threshold value; and selecting a second yaw rate estimator from said plurality of yaw rate estimators upon said detection of said inaccurate yaw rate.