Vehicle stability enhancement control

A side-slip velocity estimation module for a vehicle stability enhancement control system, comprising:

• a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle;
• and
• a limited-frequency integrator that integrates said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle,
• wherein said estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal, said side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal, and said actuator control signal is received by a rear-wheel steering actuator that turns a set of rear wheels of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.

A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:

• determining an estimated side-slip acceleration of a vehicle;
• integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator;
• and
• clearing an output of said limited-frequency integrator when a first condition occurs.

A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:

• determining an estimated side-slip acceleration of a vehicle;
• integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator;
• comparing said estimated side-slip velocity to a desired side-slip velocity to produce a side-slip control signal;
• combining said side-slip control signal with a yaw-rate control signal to produce an actuator control signal;
• transmitting said actuator control signal to a rear-wheel steering actuator;
• and
• turning a set of rear wheels of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.

A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:

• determining an estimated side-slip acceleration of a vehicle based on a yaw rate, a lateral acceleration, and a speed of said vehicle;
• integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator;
• and
• clearing an output of said limited-frequency integrator when a first condition occurs, wherein said first condition is at least one of a straight-driving condition, a speed condition, and a sensor bias condition.