SYSTEM OR CONTROLLING A VEHICLE WITH DETERMINATION OF ITS INSTANTANEOUS SPEED RELATIVE TO THE GROUND

摘要

A vehicle control system is described which comprises a determination of the instantaneous ground speed of a vehicle having at least two wheels, each equipped with a sensor (11) designed to supply a measurement that is a function of the movement of said wheel. It comprises a module indicating the circumferential speed (Vr) of each of these wheels from the corresponding sensor, a first vehicle speed indicator producing an overall speed estimation of the vehicle relative to the ground as a function of the indication from the module for at least one wheel, an acceleration sensor on board the vehicle (285) supplying a measurement that is a function of at least one longitudinal acceleration component of the vehicle (γmes), and a second vehicle speed indicator able to produce an estimation of the overall speed of the vehicle relative to the ground by integration of an acceleration indication derived from the acceleration sensor when the estimation resulting from the first indicator is not valid. The system also comprises a diagnostic stage suitable for testing the reliability of each of these indications obtained from the module as a function of the condition of the corresponding wheel at a considered instant and an estimator of the acceleration of the movement of the vehicle (γmvt) relative to the ground (280) as a function of the measurement from the acceleration sensor and of at least one acceleration measurement (Ωr) obtained from said wheel sensors, to take account in particular of the slopeδy of the ground on which the vehicle is rolling relative to the horizontal.