Patent ID: 8340881

Claim:
A method for assessing movement of a vehicle having a plurality of wheels, the method comprising the steps of: obtaining a plurality of wheel direction values, each of the plurality of wheel direction values pertaining to a direction of wheel rotation of a respective wheel of the plurality of wheels; calculating, using a controller, an average value of the plurality of wheel direction values; determining, using said controller, a direction of movement of the vehicle using the average value; comparing, using said controller, the direction of wheel rotation of each of the plurality of wheels with the direction of movement of the vehicle; calculating, using said controller, a wheel velocity of each of the plurality of wheels; applying, using said controller, a rate limit to the wheel velocity of those of the plurality of wheels for which the direction of wheel rotation of the respective wheel is different from the direction of movement of the vehicle, thereby generating adjusted wheel velocities for the plurality of wheels; and calculating, using said controller, a velocity of the vehicle using the adjusted wheel velocities.