Method of determining the current yaw angle and side slip angle of a land vehicle using the current speed vector angle

摘要

The method involves determining a side slip angle parameter using sensor values from the vehicle sensors and yaw rate sensor. A current angle between a speed vector and a fixed axis is determined. The yaw angle parameter is compared with a fixed parameter threshold. If the actual value is less than the threshold the current yaw angle is set to the current speed vector angle and the side slip angle is determined. If the yaw angle exceeds the threshold, the current yaw angle is determined and the side slip angle is set as the difference between this angle and the speed vector. Independent claims also cover apparatus for carrying out the method.