IN-VEHICLE SENSOR-BASED CALIBRATION ALGORITHM FOR YAW RATE SENSOR CALIBRATION
First Claim
1. A yaw-rate sensor calibration system in a vehicle, said vehicle including four wheels, said system comprising:
- a yaw-rate sensor providing a yaw-rate signal indicating a yaw of the vehicle;
a hand-wheel angle sensor providing a rotation signal of the rotation of a steering wheel of the vehicle;
a plurality of wheel speed sensors for providing wheel speed signals of the speed of the wheels of the vehicle; and
a yaw-rate sensor calibration controller for calibrating the yaw-rate sensor using a bias update model, said controller being responsive to the yaw-rate signal, the rotation signal and the wheel speed signals, said calibration controller determining whether the vehicle is traveling relatively straight using separate calculations for each of the yaw-rate signal, the hand-wheel angle signal and the wheel speed signals, said controller calibrating the yaw-rate sensor if the vehicle is traveling relatively straight.
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Abstract
A system and method for calibrating a vehicle heading sensor, such as a yaw-rate sensor, when GPS signals are not available using a bias update model that employs a bias gain factor. In order for the bias update model to be accurate, the vehicle should be traveling relatively straight. One embodiment of the present invention uses three thresholds to determine if the vehicle is traveling straight. These thresholds include a yaw-rate threshold, a steering wheel angle threshold and a wheel speed threshold. If all three of the thresholds indicate that the vehicle is traveling straight, then the update bias model can be used to calibrate the yaw-rate sensor.
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Citations
19 Claims
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1. A yaw-rate sensor calibration system in a vehicle, said vehicle including four wheels, said system comprising:
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a yaw-rate sensor providing a yaw-rate signal indicating a yaw of the vehicle; a hand-wheel angle sensor providing a rotation signal of the rotation of a steering wheel of the vehicle; a plurality of wheel speed sensors for providing wheel speed signals of the speed of the wheels of the vehicle; and a yaw-rate sensor calibration controller for calibrating the yaw-rate sensor using a bias update model, said controller being responsive to the yaw-rate signal, the rotation signal and the wheel speed signals, said calibration controller determining whether the vehicle is traveling relatively straight using separate calculations for each of the yaw-rate signal, the hand-wheel angle signal and the wheel speed signals, said controller calibrating the yaw-rate sensor if the vehicle is traveling relatively straight. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A heading sensor calibration system in a vehicle, said vehicle including four wheels, said system comprising:
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a heading sensor providing a heading signal indicating a heading of the vehicle; a plurality of vehicle sensors providing sensor signals identifying parameters of the vehicle; and a heading sensor calibration controller for calibrating the heading sensor using a bias update model, said controller being responsive to the heading signal and the sensor signals, said controller using the heading signal and the sensor signals to determine whether the vehicle is traveling relatively straight, said controller calibrating the heading sensor if the vehicle is traveling relatively straight. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A yaw-rate sensor calibration system in a vehicle, said vehicle including four wheels, said system comprising:
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a yaw-rate sensor providing a yaw-rate single indicating a yaw of the vehicle; a hand-wheel angle sensor providing a rotation signal of the rotation of a steering of the vehicle; a plurality of wheel speed sensors for providing wheel speed signals of the speed of the wheels of the vehicle; a GPS receiver providing GPS signals indicating the position of the vehicle; and a yaw-rate sensor calibration controller for calibrating the yaw-rate sensor using a bias update model, said controller being responsive to the yaw-rate signal, the hand-wheel rotation signal, the wheel speed signals and the GPS signals, said calibration controller using the GPS signals to calibrate the yaw-rate sensor when the GPS signals are available and using the bias update model to calibrate the yaw-rate sensor when the GPS signals are not available and the vehicle is traveling relatively straight, said calibration controller determining whether the vehicle is traveling relatively straight using separate calculations for each of the yaw-rate signal, the hand-wheel angle signal and the wheel speed signals. - View Dependent Claims (16, 17, 18, 19)
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Specification