Enhanced yaw rate estimation and diagnosis for vehicular applications

摘要

A method for estimating the yaw rate of a vehicle. The method includes receiving at least one signal indicative of a vehicular lateral acceleration and receiving at least one signal indicative of a vehicular wheel velocity. A plurality of yaw rate estimation functions are provided. A first yaw rate estimation function of the plurality of yaw rate estimation functions is selected in response to at least one of the received signals. A first estimated yaw rate is estimated in accordance with the selected first yaw rate estimation function and at least two signals each indicative of a wheel velocity. If the first estimated yaw rate is not within a threshold value of an actual measured yaw rate, a second yaw rate estimation function is selected to obtain a second estimated yaw rate using a signal indicative of lateral acceleration for correlation with the actual measured yaw rate.