Apparatus for measuring the yaw rate of a vehicle
First Claim
1. Apparatus for measuring a yaw rate of a vehicle comprising a gyrometer which can provide an output signal corresponding to the yaw rate of the vehicle, measuring means for measuring a velocity, a steering angel and a lateral acceleration of the vehicle;
- and correction means for removing bias errors from the output signal of the gyrometer, wherein said correction means measures the bias errors when the velocity of the vehicle is substantially zero and both the steering angle of the vehicle and the lateral acceleration of the vehicle are within a tolerance of zero.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus for measuring the yaw rate of a vehicle, comprising a device for measuring the velocity of the vehicle, a device for measuring the lateral acceleration of the vehicle, and a device for measuring the steering angle of the vehicle, a correction device, and a yaw gyrometer. The correction device acts to remove bias errors from the output of the yaw gyrometer. The correction device also estimates the bias errors when the velocity of the vehicle is within a tolerance of zero or when both the steering angle of the vehicle is within a tolerance of zero and the lateral acceleration of the vehicle is within a tolerance of zero.
-
Citations
7 Claims
-
1. Apparatus for measuring a yaw rate of a vehicle comprising a gyrometer which can provide an output signal corresponding to the yaw rate of the vehicle, measuring means for measuring a velocity, a steering angel and a lateral acceleration of the vehicle;
- and correction means for removing bias errors from the output signal of the gyrometer, wherein said correction means measures the bias errors when the velocity of the vehicle is substantially zero and both the steering angle of the vehicle and the lateral acceleration of the vehicle are within a tolerance of zero.
- View Dependent Claims (2, 3, 4, 5)
-
6. Apparatus for measuring a yaw rate of a vehicle comprising a gyrometer which can provide an output signal corresponding to the yaw rate of the vehicle;
- measuring means for measuring a velocity, a steering angle and a lateral acceleration of the vehicle and correction means for removing bias errors from the output signal of the gyrometer;
wherein said correction means measures the bias errors when each of the following conditions and (b) is present (a) the velocity of the vehicle is substantially zero, (b) both the steering angle and the lateral acceleration of the vehicle are substantially zero. - View Dependent Claims (7)
- measuring means for measuring a velocity, a steering angle and a lateral acceleration of the vehicle and correction means for removing bias errors from the output signal of the gyrometer;
Specification