Yaw Rate Estimation for Vehicle Control Applications

[+] Author and Article Information
N. Sivashankar

Scientific Research Labs, Ford Motor Company, 20000 Rotunda Drive, MD 2036, Dearborn, MI 48121

A. G. Ulsoy

Mechanical Engineering and Applied Mechanics Department, The University of Michigan, Ann Arbor, MI 48109

J. Dyn. Sys., Meas., Control 120(2), 267-274 (Jun 01, 1998) (8 pages) doi:10.1115/1.2802418 History: Received September 18, 1996; Online December 03, 2007


This paper describes a method for vehicle yaw rate estimation using two accelerometers and a steer angle sensor. This yaw rate estimate can be used as an inexpensive alternative to commercial yaw rate sensors in vehicle control applications. The proposed method combines two complementary approaches to yaw rate estimation using accelerometers. This new method is superior to either method used by itself. This paper presents the new approach, supporting analyses, simulation results and experimental validation. The simulation results are based upon both linear and nonlinear vehicle dynamics models and include important effects such as sensor drift and noise, disturbances acting on the vehicle, and model uncertainties. The experimental validation is based on test data from a specially instrumented vehicle driven on a test track. These results indicate that the proposed yaw rate estimation scheme performs well for a wide range of operating conditions and is not difficult to implement.

Copyright © 1998 by The American Society of Mechanical Engineers
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