Method for the Calibration of a Yaw Rate Measurement

• US 20090089002A1
• Filed: 04/19/2007
• Published: 04/02/2009
• Est. Priority Date: 04/25/2006
• Status: Active Grant

• Current Assignee: ADC GmbH (TE Connectivity Ltd. (United Kingdom))
• Original Assignee: ADC GmbH (TE Connectivity Ltd. (United Kingdom))
• Inventors: Hoer, Johannes, Walter, Michael, Zobel, Matthias
• Granted Patent: US 7,684,945 B2
• Time in Patent Office: Days
• US Class Current: 702/96
• CPC Class Codes: B60T 2250/062 loosing zero-point calibration of yaw rate sensors when travelling on banked roads or in case of temperature variations
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G01C 21/06 involving measuring of drift angle; involving correction for drift
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38

Abstract

The invention relates to a method for the calibration of yaw rate measurement in a motor vehicle, wherein the motor vehicle features at least one device for determining the yaw rate, a camera system which is in the forward-position, and, if applicable, a steering angle sensor. At least one initial calibration is carried out at a standstill and at least one second calibration is carried out when the motor vehicle is moving.

Claims

1-5. -5. (canceled)

6. A method for the calibration of a yaw rate measurement in a motor vehicle, wherein the motor vehicle features at least one device for determining the yaw rate, a camera system, a steering angle sensor or a transverse acceleration sensor

characterized in that

a first calibration is carried out at a standstill and a second calibration is carried out when the motor vehicle is moving, wherein for a calibration when the vehicle is moving the image data of the camera system are used, wherein the camera system detects the environment in front of the motor vehicle and among others from the course of the lane (driving straight ahead, cornering) the yaw rate is estimated.

7. A method according to claim 6,

characterized in that

for a calibration when the vehicle is moving, the steering angle and/or the transverse acceleration is used, in particular if an estimation of the yaw rate from a camera picture is not successful.

8. A method according to claim 6,

characterized in that

with a standstill of the vehicle the yaw rate values are averaged over a certain period of time, and the averaged value is used as a correction value.

9. A method according to claim 6,

characterized in that

the output value of the yaw rate is compensated in several steps, if a correction value has been determined.