Patent Number: 6,169,951

Title: Active brake control having yaw rate estimation

Abstract: An improved vehicle active brake control based on an estimate of vehicle yaw rate, wherein the estimate is based on the speeds of the un-driven wheels, but compensated to reflect slipping of the un-driven wheels during braking. Prior to braking, the yaw rate is estimated solely on the basis of the measured speeds of the un-driven wheels. During braking, the slip speeds of the un-driven wheels are estimated based on the measured speeds, the reference speed of the vehicle and the previous estimate of yaw rate, and used to compute a new yaw rate that is compensated for the estimated slip speeds.

Inventors: Ghoneim; Youssef Ahmed (Macomb Township, Macomb County, MI), Chin; Yuen-Kwok (Troy, MI)

Assignee: General Motors Corporation

International Classification: B60T 8/1755 (20060101); B60T 8/172 (20060101); B60T 8/17 (20060101); B60T 008/32 ()

Expiration Date: 01/02/2018