PROCESS FOR DETERMINING STATE OF A VEHICLE
First Claim
1. A method for determining a corrected yaw rate for a vehicle, said method comprising:
- receiving a first yaw rate input from a yaw rate sensor of the vehicle;
determining if the vehicle is moving or stationary;
if the vehicle is determined to be moving, determining a steering angle of the vehicle;
determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle;
determining a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input;
receiving a second yaw rate input from the yaw rate sensor of the vehicle; and
determining a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset.
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Abstract
A method for determining a corrected yaw rate for a vehicle includes receiving a first yaw rate input from a yaw rate sensor of the vehicle and determining if the vehicle is moving or stationary. If the vehicle is determined to be moving, the method includes determining a steering angle of the vehicle, and determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle. A yaw rate offset is determined based at least in part on the determined offset correction value and the received first yaw rate input. A second yaw rate input is received from the yaw rate sensor of the vehicle, and a corrected yaw rate value is determined based at least in part on the received second yaw rate input and the determined yaw rate offset.
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Citations
20 Claims
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1. A method for determining a corrected yaw rate for a vehicle, said method comprising:
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receiving a first yaw rate input from a yaw rate sensor of the vehicle; determining if the vehicle is moving or stationary; if the vehicle is determined to be moving, determining a steering angle of the vehicle; determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle; determining a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input; receiving a second yaw rate input from the yaw rate sensor of the vehicle; and determining a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for determining a corrected yaw rate for a vehicle, said method comprising:
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receiving a first yaw rate input from a yaw rate sensor of the vehicle; determining if the vehicle is moving or stationary; if the vehicle is determined to be moving, determining a steering angle of the vehicle; determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle; determining a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input; receiving a second yaw rate input from the yaw rate sensor of the vehicle; determining a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset; wherein, if the vehicle is determined to be moving below a first threshold speed and the steering angle is determined to be less than a first threshold level, the yaw rate offset is not changed from a previously determined yaw rate offset; and wherein, if the vehicle is determined to be moving at a determined speed that is above a second threshold speed or the steering angle is determined to be greater than a second threshold level, the yaw rate offset is determined based at least in part on the determined speed or the determined steering angle. - View Dependent Claims (14, 15, 16, 17)
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18. A method for determining a corrected yaw rate for a vehicle, said method comprising:
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receiving a first yaw rate input from a yaw rate sensor of the vehicle; determining if the vehicle is moving or stationary; if the vehicle is determined to be moving, determining a steering angle of the vehicle; determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle; determining lane markers on the road being traveled by the vehicle via processing of image data captured by a vehicle-mounted camera; wherein determining the offset correction value is based at least in part on determination of lane markers on the road being traveled by the vehicle; determining a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input; receiving a second yaw rate input from the yaw rate sensor of the vehicle; and determining a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset. - View Dependent Claims (19, 20)
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Specification