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Estimation of Yaw Rate From Difference Wheel Speed Between Inside and Outside Wheel Utilizing Kalman Filter
Published May 16, 1995 by Society of Automotive Engineers of Japan in Japan
Event: JSAE Spring Conference
We developed a method to estimate yaw rate which is one of the state variables of vehicle dynamics. Vehicle yaw rate is estimated from wheel speed between inside and outside wheel utilizing Kalman Filter. The Kalman estimation value is improved by the nonlinear compensation based on experimental fact. The estimation accuracy is good enough to detect failure of yaw rate sensor compared with conventional method utilizing Low Pass Filter. This paper reports estimation methodology and applied result of failure detection for yaw rate sensor.