| 摘要 |
A method for estimating the longitudinal velocity of a vehicle generally comprises the steps of determining whether the vehicle has a lateral acceleration greater than a predetermined value, and then setting the estimate of longitudinal velocity based on the velocity of the wheel having the highest normal force when the vehicle does have a lateral acceleration greater than the predetermined value. The predetermined value is preferably set to reflect the vehicle being in a curve driving situation. The method may further comprise the step of determining whether the vehicle has had a lateral acceleration greater than the predetermined value within a predetermined amount of time. Preferably, when the vehicle is not currently but has had a lateral acceleration greater than the predetermined value within the predetermined amount of time, the estimate of longitudinal velocity is set based on an integration of the vehicle's longitudinal acceleration over time.
|
