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

摘要

The invention relates to a system for controlling a vehicle that comprises determining the instantaneous ground speed of a vehicle including at least two wheels each provided with a sensor (11) capable of providing a measure based on the movement of said wheel. It comprises a module indicating the circumferential speed (Vr) of each of the wheels based on the corresponding sensor, a first vehicle speed indicator generating an estimation of the vehicle global speed relative to the ground based on the indication from the module for at least one wheel, an acceleration sensor onboard the vehicle (285) providing a measure on the basis of at least one longitudinal acceleration component of the vehicle (?mes), and a second vehicle speed indicator capable of generating an estimation of the vehicle global speed 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 further includes a diagnosis stage capable of testing the reliability of each of the indications from the module on the basis of the condition of the corresponding wheel at a given moment, and an estimator of the vehicle movement acceleration (?mvt) relative to the ground (280) on the basis of the measure of the acceleration sensor and on at least one acceleration measure (Or) obtained from said wheel sensors, particularly in order to take into account the slope dy of the vehicle driving ground relative to the horizontal.