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VEHICLE YAW RATE ESTIMATION SYSTEM

  • US 20180001900A1
  • Filed: 09/18/2017
  • Published: 01/04/2018
  • Est. Priority Date: 02/25/2015
  • Status: Active Grant
First Claim
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1. A yaw rate estimation system for a vehicle equipped with a vehicular control system, said yaw rate estimation system comprising:

  • a camera disposed at a vehicle equipped with said yaw rate estimation system, wherein said camera is disposed at a windshield of the equipped vehicle and views through the windshield and forward of the equipped vehicle;

    wherein the vehicular control system of the equipped vehicle comprises one of (i) a collision avoidance system, (ii) a collision mitigation system and (iii) a lane keeping system;

    a yaw rate sensor disposed at the equipped vehicle;

    wheel sensors disposed at wheels of the equipped vehicle;

    an accelerometer disposed at the equipped vehicle and operable to determine acceleration of the equipped vehicle;

    a steering sensor disposed at the equipped vehicle and operable to determine steering of the equipped vehicle;

    a control disposed at the equipped vehicle, said control comprising a processor that estimates the actual yaw rate of the equipped vehicle by processing (i) a first yaw rate derived from yaw rate data provided to said control by said yaw rate sensor of the equipped vehicle, (ii) a second yaw rate derived from wheel sensor data provided to said control by said wheel sensors of the equipped vehicle, (iii) a third yaw rate derived from acceleration data provided to said control by said accelerometer, and (iv) a fourth yaw rate derived from steering data provided to said control by said steering sensor; and

    wherein the vehicular control system utilizes (i) image data captured by said camera as the equipped vehicle is being driven along a road and (ii) the estimated actual yaw rate of the equipped vehicle as the equipped vehicle is being driven along the road.

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