Estimation of Vehicle Yaw Rate Using a Virtual Sensor with a Speed Scheduled Observer

Kahraman K., Emirler M. T., Şentürk K., Aksun Güvenç B., Güvenç L., Efendioğlu B.

6th IFAC Symposium Advances in Automotive Control, Munich, Germany, 12 - 14 July 2010, vol.43, no.7, pp.632-637

  • Publication Type: Conference Paper / Full Text
  • Volume: 43
  • City: Munich
  • Country: Germany
  • Page Numbers: pp.632-637
  • Yıldız Technical University Affiliated: No


The use of a combined kinematic relation plus speed scheduled Kalman filter virtual sensor for estimating road vehicle yaw rate is the topic of this paper. This virtual sensor uses the wheel speed data as its main input. A mid-sized sedan is used as the vehicle. A linear single track model of this mid-sized sedan with the measurable vehicle speed v is used in the Kalman filter design. The high fidelity Carmaker model of this vehicle was used in evaluation of the designed yaw rate virtual sensor. Experimental data from slalom road tests are used in offline and real-time hardware-in-the-loop simulation results. Finally, road test result of the yaw rate virtual sensor replacing the actual yaw rate sensor in the ESP system are presented to demonstrate the effectiveness of the proposed method.