Table of Contents
International Journal of Vehicular Technology
Volume 2013, Article ID 582691, 13 pages
Research Article

Vehicle Yaw Rate Estimation Using a Virtual Sensor

1Mechanical Engineering Department, İstanbul Technical University, 34437 İstanbul, Turkey
2Mekar Labs, Faculty of Engineering and Architecture, Mechanical Engineering Department, İstanbul Okan University, Tuzla Campus, Tuzla, 34959 İstanbul, Turkey
3Tofaş R&D Center, 16010 Bursa, Turkey

Received 9 October 2012; Revised 12 March 2013; Accepted 12 March 2013

Academic Editor: Hilario Gómez-Moreno

Copyright © 2013 Mümin Tolga Emirler et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Road vehicle yaw stability control systems like electronic stability program (ESP) are important active safety systems used for maintaining lateral stability of the vehicle. Vehicle yaw rate is the key parameter that needs to be known by a yaw stability control system. In this paper, yaw rate is estimated using a virtual sensor which contains kinematic relations and a velocity-scheduled Kalman filter. Kinematic estimation is carried out using wheel speeds, dynamic tire radius, and front wheel steering angle. In addition, a velocity-scheduled Kalman filter utilizing the linearized single-track model of the road vehicle is used in the dynamic estimation part of the virtual sensor. The designed virtual sensor is successfully tested offline using a validated, high degrees of freedom, and high fidelity vehicle model and using hardware-in-the-loop simulations. Moreover, actual road testing is carried out and the estimated yaw rate from the virtual sensor is compared with the actual yaw rate obtained from the commercial yaw rate sensor to demonstrate the effectiveness of the virtual yaw rate sensor in practical use.