Method of obtaining the yawing velocity and/or transverse velocity of a vehicle

In a method of controlling a motor driven wheeled vehicle having front and rear axles and including the steps of obtaining values for at least one of the yawing velocity .omega. and the transverse velocity v.sub.y of the vehicle, and using the obtained values for at least one of the yawing velocity .omega. and the transverse velocity v.sub.y to control a driving dynamic of the vehicle;

• the improvement wherein said step of obtaining comprises:
• measuring and providing signals corresponding to the transverse acceleration a.sub.y, the front wheel drive angle .delta..sub.v, and any rear-wheel drive angle .delta..sub.h of the vehicle;
• forming a data vector
• m.sup.r (k-1)-[a.sub.y (k-2)a.sub.y (k-3).vertline..delta..sub.v (k-1).delta..sub.v (k-2).delta..sub.v (k-3).vertline..delta..sub.h (k-1).delta..sub.h (k-2).delta..sub.h (k-3)].sup.r
• from the three measured values a.sub.y, .delta..sub.v and .delta..sub.h, with k, (k-1), (k-2), and (k-3) representing times of measurements;
• multiplying the data vector m.sup.r (k-1) with the estimated value of a parameter vector p(k-1) to determine an estimated value for the transverse acceleration a.sub.y (k);
• recursively calculating the estimated value of a parameter vector p(k) using an estimation algorithm from the previously determined estimated value p(k-1) and an error value e(k)=a.sub.y (k)-a.sub.y (k);
• multiplying the matrix M*(k-1) of the data vector m.sup.r (k-1) with the matrix p* (k) of the parameter vector p(k) to determine a state vector x(k)=[.omega.(k) v.sub.y (k)];
• and,
• determining at least one of the yawing velocity .omega.(k) and the transverse velocity v.sub.y (k) of the vehicle from the state vector.