SYSTEM AND METHOD OF ACQUIRING BIAS OF YAW RATE SENSOR FOR VEHICLE

• US 20140163808A1
• Filed: 03/14/2013
• Published: 06/12/2014
• Est. Priority Date: 12/07/2012
• Status: Abandoned Application

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Seo, Hai Jin, Yu, Jong Il
• Application Number:
  US13/829,077
• Publication Number:
  US 20140163808A1
• Time in Patent Office: Days
• US Class Current: 701/31.1
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2401/16 GPS track data
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• 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 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

Disclosed herein is a system and method of acquiring the bias of a yaw rate sensor for a vehicle. The method includes matching, by a processor, map information based on global positioning system (GPS) information and vehicle speed information and determining a curvature of a road. The method further includes calculating, by the processor, a map based yaw degree based on the curvature of the road using steering angle information and the vehicle speed information. Additionally, the method includes acquiring, by the processor, the bias of the yaw rate sensor by comparing a measured value of the yaw rate sensor with the map based yaw degree.

Claims

1. A method of acquiring a bias of a yaw rate sensor for a vehicle, comprising:

matching, by a processor, map information based on global positioning system (GPS) information and vehicle speed information;

determining, by the processor, a curvature of a road;

calculating, by the processor, a map based yaw degree based on the curvature of the road using steering angle information and the vehicle speed information; and

acquiring, by the processor, the bias of the yaw rate sensor by comparing a measured value of the yaw rate sensor with the map based yaw degree.

2. The method of claim 1, wherein the GPS information comprises one or more of a location, a speed, and a yaw degree.

3. The method of claim 1, wherein acquiring the bias of the yaw rate sensor includes:

calculating, by the processor, a map based angular speed by differentiating the map based yaw degree; and

calculating, by the processor, the bias of the yaw rate sensor based on a difference between the map based angular speed and the measured value of the yaw rate sensor.

4. The method of claim 3, wherein acquiring the bias of the yaw rate sensor includes:

averaging, by the processor, differences between the map based angular speed and the measured value of the yaw rate sensor.

5. The method of claim 1, wherein acquiring the bias of the yaw rate sensor includes further includes:

calculating, by the processor, a compensation value for the yaw rate sensor by removing the bias of the yaw rate sensor from the measured value of the yaw rate sensor.

6. The method of claim 5, wherein calculating a compensation value for the yaw rate sensor further includes:

acquiring, by the processor, a filtered compensation value for the yaw rate sensor by filtering the compensation value for the yaw rate sensor using the map based yaw degree.

7. The method of claim 1, wherein the method further comprises:

storing, by the processor, the bias of the yaw rate sensor at a plurality of intervals.

8. The method of claim 7, wherein storing the bias of the yaw rate sensor further includes:

acquiring, by the processor, a bias of the yaw rate sensor again in a corresponding interval; and

comparing, by the processor, the acquired bias of the yaw rate sensor with the previously stored bias of the yaw rate sensor.

9. The method of claim 8, wherein the method further includes:

determining, by the processor, a driving condition of the vehicle and a condition of surface of the road through the comparison with the stored bias of the yaw rate sensor.

10. A system of acquiring a bias of a yaw rate sensor for a vehicle, comprising:

a processor configured to;

match map information based on global positioning system (GPS) information and vehicle speed information;

determine a curvature of a road;

calculate a map based yaw degree based on the curvature of the road using steering angle information and the vehicle speed information; and

acquire the bias of the yaw rate sensor by comparing a measured value of the yaw rate sensor with the map based yaw degree.

11. The system of claim 10, wherein the GPS information comprises one or more of a location, a speed, and a yaw degree.

12. The system of claim 10, wherein the processor is further configured to:

calculate a map based angular speed by differentiating the map based yaw degree; and

calculate the bias of the yaw rate sensor based on a difference between the map based angular speed and the measured value of the yaw rate sensor.

13. The system of claim 12, wherein the processor is further configured to:

average differences between the map based angular speed and the measured value of the yaw rate sensor.

14. The system of claim 10, wherein the processor is further configured to:

calculate a compensation value for the yaw rate sensor by removing the bias of the yaw rate sensor from the measured value of the yaw rate sensor.

15. The system of claim 14, wherein the processor is further configured to:

acquire a filtered compensation value for the yaw rate sensor by filtering the compensation value for the yaw rate sensor using the map based yaw degree.

16. The system of claim 10, wherein the processor is further configured to:

store the bias of the yaw rate sensor at a plurality of intervals.

17. The system of claim 16, wherein the processor is further configured to:

acquire a bias of the yaw rate sensor again in a corresponding interval; and

compare the acquired bias of the yaw rate sensor with the previously stored bias of the yaw rate sensor.

18. The system of claim 17, wherein the processor is further configured to:

determine a driving condition of the vehicle and a condition of surface of the road through the comparison with the stored bias of the yaw rate sensor.

19. A non-transitory computer readable medium containing program instructions executed by a processor or controller, the computer readable medium comprising:

program instructions that match map information based on global positioning system (GPS) information and vehicle speed information;

program instructions that determine a curvature of a road;

program instructions that calculate a map based yaw degree based on the curvature of the road using steering angle information and the vehicle speed information; and

program instructions that acquire the bias of the yaw rate sensor by comparing a measured value of the yaw rate sensor with the map based yaw degree.

20. The non-transitory computer readable medium of claim 19, further comprising:

program instructions that calculate a map based angular speed by differentiating the map based yaw degree; and

program instructions that calculate the bias of the yaw rate sensor based on a difference between the map based angular speed and the measured value of the yaw rate sensor.