Yaw motion control device

A sensor for detecting a dynamic vehicle condition corresponding to yaw motion of a vehicle, comprising:

• a detecting means for detecting wheel speeds of left and right trailing wheels of the vehicle and producing separate output signals representing a left wheel speed of said left trailing wheel and a right wheel speed of said right trailing wheel;
• a yaw rate determining means, receiving said output signals from said detecting means representing the wheel speeds, for determining an approximate yaw rate by determining a product of a constant and a difference value, said difference value representing a difference between said left wheel speed and said right wheel speed, said constant having a value representing a distance between centerlines of said left and right trailing wheels;
• and
• a filter means, receiving the output of said yaw rate determining means, for eliminating signal noise caused by vibration of vehicle wheels and suspension.

A sensor for detecting a dynamic vehicle condition corresponding to yaw motion, comprising:

• a detecting means for detecting wheel speed of left and right trailing wheels of the vehicle;
• a yaw rate determining means for receiving the wheel speeds from said detecting means, calculating a difference between said wheel speeds, and determining an approximate yaw rate based on said difference;
• and
• a filter means, receiving the output of said calculating means representing said approximate yaw rate, for eliminating signal noise caused by vibration of vehicle wheels and suspension.