Abstract
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 and simulation results. 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. 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.
