Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication
Patent
1996-09-03
1999-03-02
Cuchlinski, Jr., William A.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
701 71, 701 72, 303140, 303146, 303147, B62D 600
Patent
active
058783571
ABSTRACT:
A method is provided for a vehicle yaw rate estimation using two accelerometers and a steer angle sensor. The new method combines two complimentary approaches to yaw rate estimation using accelerometers. A kinematic yaw rate estimate is weighted with a vehicle lateral acceleration at the center of gravity, and steering angle and vehicle forward speed are incorporated into a Kalman filter for estimating vehicle yaw rate based upon the kinematic yaw rate estimate, the lateral acceleration at the center of gravity, the vehicle steering angle, and the vehicle forward speed. The method incorporates use of either one or two accelerometers.
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Hrovat Davorin D.
Sivashankar Shiva N.
Ulsoy Ali Galip
Brown Gregory P.
Cuchlinski Jr. William A.
Donnelly Arthur
Ford Global Technologies Inc.
May Roger L.
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