METHOD AND APPARATUS FOR DETERMINING A REFERENCE VEHICLE VELOCITY AND A REAR WHEEL SPEED IN A VEHICLE HAVING THREE SPEED SENSORS

摘要

The method for controlling a safety system ( 102 - 108 ) of a vehicle ( 10 ) determines a reference velocity from a first front wheel sensor ( 20 A) and a second front wheel speed signal from a second front wheel sensor ( 20 B). An axle speed sensor ( 20 C) may be used to determine an axle speed signal. A first rear speed signal and a second rear speed signal are determined from the reference velocity, a slip effect and a yaw signal. The yaw signal may be determined from a yaw rate sensor ( 28 ). Safety system ( 102 - 108 ) may be controlled in response to the first rear wheel speed signal and the second rear wheel speed signal.