M. Hrgetić, J. Deur, M. Cifrek, M. Lakehal-Ayat, H. E. Tseng

Analysis and Compensation of Wheel Speed Sensor-based Kinematic Yaw Rate Estimation Errors

21st International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD, 2009.
The yaw rate, being the essential vehicle dynamics control variable, can be estimated based on the non-driven wheel speed measurement. The yaw rate estimate can be used for the gyroscope fault detection or can be integrated with other kinematic estimators utilizing a sensor fusion concept. However, the estimation accuracy is substantially reduced during braking maneuvers. Static and dynamic changes of effective tire radius affect the estimation accuracy, as well. This paper presents a detailed analysis of the yaw rate estimation errors caused by braking forces, various sources of effective tire radius variations, and combined-slip tire dynamics. Compensation measures aimed to increase the estimation accuracy including a sensor fusion application are also discussed.