are used acceleration taylor series and drivetrain modeling the acceleration method uses the acceleration of the left driven wheel to estimate the speed of the left driven wheel at cycle k the following equation is used to perform the estimation l u2032 is the first derivative of l and dt is the cycle time the calculations can be smoothed using a weighted average of several past cycles or a filtered value empirical vehicle data can also be used to limit a change in the estimated speed of the wheel to an absolute change acceleration can also be modeled as discussed below in relation to a drivetrain model fig4 a and 4b show a schematic of an acceleration model 100 a sensed speed of a right wheel 105 and a sensed speed of a driveshaft 110 are input into the model as discussed above the wheel speed sensor 170 and the driveshaft speed sensor 140 update their outputs at different time intervals e g 5 msec for the wheel speed sensor 170 and 7 msec for the driveshaft speed sensor 140 by using various multipliers 115 adder subtractors 120 and delays 125 the model 100 is able to compensate for the differences in signal updates a.