A method and apparatus for estimating vehicle yaw rate using a pair of
single axis accelerometers that obviate the need for a gyroscope when used
to provide a yaw rate estimate to a vehicle stability control system. The
accelerometers are longitudinally aligned along an axis with one
accelerometer in front of the vehicle center of gravity and one behind it.
A method of estimating yaw rate uses a statistical estimating algorithm to
process accelerometer inputs and a steer angle from a steer angle sensor
on the vehicle.
