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Estimated longitudinal speed`s error bound determination method for e.g. commercial motor vehicle, involves determining number of unstable running wheels, and computing error bound dependent on number of unstable running wheels
Estimated longitudinal speed`s error bound determination method for e.g. commercial motor vehicle, involves determining number of unstable running wheels, and computing error bound dependent on number of unstable running wheels
The method involves determining a number of unstable running wheels, and computing an error bound dependent on the number of unstable running wheels. The error bound is calculated as a sum of a constant of values dependent on the estimated longitudinal speed (Vx), values dependent on the estimated longitudinal acceleration and values, which dependent on the number of unstable running wheels. The values dependent on the estimated longitudinal speed is a larger value of a product of the estimated longitudinal speed with a constant and a pre-determined minimum value. An independent claim is also included for a control device for a vehicle.
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