| 摘要 |
An improved vehicle yaw control that does not require a yaw sensor, wherein the validity of an estimate of vehicle yaw is determined and used to select an appropriate control methodology. The vehicle yaw is estimated based on the measured speeds of the un-driven wheels of the vehicle, and various other conditions are utilized to determine if the estimated yaw rate is valid for control purposes. When it is determined that the estimated yaw rate is valid, a closed-loop yaw rate feedback control strategy is employed, whereas in conditions under which it is determined that the estimated yaw rate is not valid, a different control strategy, such as an open-loop feed-forward control of vehicle yaw, is employed. The validity of the estimated yaw rate is judged based on a logical analysis of the measured wheel speed information, braking information, and steering wheel angle. The measured speeds of the un-driven wheels are used to compute an average un-driven wheel speed and an average un-driven wheel acceleration. The operator steering angle and the vehicle velocity are used to determine a desired yaw rate, which is compared to the yaw estimate to find a yaw rate error. Based on these variables, the control reliably determines whether the estimated yaw rate is valid, and selects an appropriate control methodology in accordance with the determination.
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