| 摘要 |
PURPOSE: A method for calculating a yaw-rate when an Anti-lock Brake System is controlled is provided to accurately calculate the yaw-rate of a vehicle using the velocity of wheels. CONSTITUTION: A method for calculating a yaw-rate when an Anti-lock Brake System is controlled is as follows. A target deceleration of wheels is set depending on the speed of a vehicle(S21). When the current deceleration of the vehicle is over the target deceleration, a variable filter value is set by the difference value between the current deceleration and the target deceleration. The speed of the wheels is filtered using the variable filter value(S28). A yaw-rate is calculated using the filtered wheel speed(S29). |
