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