Vehicle`s movement condition e.g. speed, determining method, involves merging movement condition vectors to condition vector representing movement condition by weighted average value generation based on measure of associated quality values

摘要

The method involves converting a determined actual wheel speed variable (Z1) into two movement condition vectors (Sa, Sb) with recursive filter functions (Fa, Fb) e.g. Kalman-filter functions. The functions are predicted to condition prediction and correction of the prediction. The functions have quality evaluation function to evaluate qualities of respective function and to produce quality values (ga, gb). The vectors are merged to a condition vector (S1) representing the movement condition of a vehicle by weighted average value generation according to a measure of associated quality values. An independent claim is also included for a device for implementing a method of determining a movement condition of a vehicle based on wheel speed determination.