Method and apparatus for determining a signal offset of a pitch rate sensor

• US 20110004359A1
• Filed: 09/14/2007
• Published: 01/06/2011
• Est. Priority Date: 10/18/2006
• Status: Abandoned Application

• Current Assignee: Continental Automotive GmbH (Continental AG)
• Original Assignee: Continental Automotive GmbH (Continental AG)
• Inventors: Stratesteffen, Martin, Schweiger, Thomas, Kretschmann, Matthias
• Application Number:
  US12/445,976
• Publication Number:
  US 20110004359A1
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60G 17/01908 Acceleration or inclination sensors characterised by the use of gyroscopes B60G21/08
• CPC Class Codes: B60G 2400/0522 Pitch rate
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/95 Position of vehicle body elements
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

In order to determine a signal offset (OFF_SIG) of a pitch rate sensor of a vehicle (2), a signal (OMEGA_TETA_SIG) from the pitch rate sensor is detected. Longitudinal acceleration (ACC) of the vehicle (2) is determined. A time derivative (ACC_DRV) of the longitudinal acceleration (ACC) is determined. A check is carried out in order to determine whether a magnitude of the time derivative (ACC_DRV) of the longitudinal acceleration (ACC) is less than a first predefined threshold value (THD_—1). The signal offset (OFF_SIG) of the pitch rate sensor is determined on the basis of the signal (OMEGA_TETA_SIG) from the pitch rate sensor if the magnitude of the time derivative (ACC_DRV) of the longitudinal acceleration (ACC) is less than the first predefined threshold value (THD_—1).

Claims

1. A method for determining a signal offset of a pitch rate sensor of a vehicle, the method comprising the steps of:

acquiring a pitch rate sensor signal,

determining a longitudinal acceleration of the vehicle,

determining a time derivative of the longitudinal acceleration,

checking whether an absolute value of the time derivative of the longitudinal acceleration is less than a first predefined threshold value,

determining the signal offset of the pitch rate sensor as a function of the pitch rate sensor signal if the absolute value if of the time derivative of the longitudinal acceleration is less than the first predefined threshold value.

2. The method according to claim 1, wherein the pitch rate sensor signal is acquired over a predefined period and the signal offset is determined only as a function of portions of the pitch rate sensor signal which are acquired while the absolute value of the time derivative of the longitudinal acceleration is less than the first predefined threshold value.

3. The method according to claim 1, wherein the longitudinal acceleration of the vehicle is determined using a longitudinal accelerometer.

4. The method according to claim 1, wherein the longitudinal acceleration of the vehicle is determined as a function of a vehicle velocity of the vehicle and at least one wheel velocity of a wheel of the vehicle.

5. The method according to claim 1, wherein a wheel velocity of at least one wheel of the motor vehicle is determined and wherein the signal offset of the pitch rate sensor is determined as a function of the pitch rate sensor signal if an absolute value of the determined wheel velocity of the corresponding wheel is less than a second predefined threshold value.

6. The method according to claim 1, wherein a vehicle velocity is determined and wherein the signal offset of the pitch rate sensor is determined as a function of the pitch rate sensor signal if an absolute value of the vehicle velocity determined is less than the second predefined threshold value.

7. The method according to claim 1, wherein a time derivative of the pitch rate sensor signal is determined and wherein the signal offset of the pitch rate sensor is determined as a function of the pitch rate sensor signal if an absolute value of the time derivative of the pitch rate sensor signal is less than a third predefined threshold value.

8. An apparatus for determining a signal offset of a pitch rate sensor of a vehicle, which is operable

to acquire a pitch rate sensor signal,

to determine a longitudinal acceleration of the vehicle,

to determine a time derivative of the longitudinal acceleration,

to check whether an absolute value of the time derivative of the longitudinal acceleration is less than a first predefined threshold value,

to determine the signal offset of the pitch rate sensor as a function of the pitch rate sensor signal if the absolute value of the time derivative of the longitudinal acceleration is less than the first predefined threshold value.

9. The apparatus according to claim 8, wherein the apparatus is further operable to acquire the pitch rate sensor signal over a predefined period and to determine the signal offset only as a function of portions of the pitch rate sensor signal which are acquired while the absolute value of the time derivative of the longitudinal acceleration is less than the first predefined threshold value.

10. The apparatus according to claim 8, comprising a longitudinal accelerometer determining the longitudinal acceleration of the vehicle.

11. The apparatus according to claim 8, wherein the apparatus is further operable to determine the longitudinal acceleration of the vehicle as a function of a vehicle velocity of the vehicle and at least one wheel velocity of a wheel of the vehicle.

12. The apparatus according to claim 8, wherein the apparatus is further operable to determine a wheel velocity of at least one wheel of the motor vehicle and to determine the signal offset of the pitch rate sensor as a function of the pitch rate sensor signal if an absolute value of the determined wheel velocity of the corresponding wheel is less than a second predefined threshold value.

13. The apparatus according to claim 8, wherein the apparatus is further operable to determine a vehicle velocity and to determine the signal offset of the pitch rate sensor as a function of the pitch rate sensor signal if an absolute value of the vehicle velocity determined is less than the second predefined threshold value.

14. The apparatus according to claim 8, wherein the apparatus is further operable to determine a time derivative of the pitch rate sensor signal and to determine the signal offset of the pitch rate sensor as a function of the pitch rate sensor signal if an absolute value of the time derivative of the pitch rate sensor signal is less than a third predefined threshold value.