Apparatus for correcting and diagnosing angular rate sensors installed in an automotive vehicle
First Claim
1. An apparatus for correcting and diagnosing angular rate sensors installed in an automotive vehicle, comprising:
- a first angular rate sensor and a second angular rate sensor both installed in an automotive vehicle for generating angular detection signals representing an angular rate of said automotive vehicle;
at least one acceleration sensor installed in said automotive vehicle for generating an acceleration detection signal representing an acceleration of said automotive vehicle;
a judging section for judging a stopped condition of said automotive vehicle by applying the acceleration detection signal obtained from said acceleration sensor to an allowable variation range, wherein the allowable variation range can be altered during operation;
an offset correcting section for generating offsets of the angular detection signals from the first and second angular rate sensors based on a judged result obtained from the judging section; and
a sensitivity diagnosing section for diagnosing sensitivities of the first and second angular rate sensors based on corrected angular detection signals from the first and second angular rate sensors, the corrected angular detection signals being generated based on the angular detection signals and the offsets of the angular detection signals.
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Abstract
An offset diagnosing and correcting section obtains an offset correction value from an angular rate value obtained from detection signals produced from a plurality of angular rate sensors and a detection signal produced from an angular rate sensor when an automotive vehicle is in a stopped condition. The offset diagnosing and correcting section performs an offset correction for the angular rate value with reference to this offset correction value. A sensor sensitivity diagnosing section detects a turning condition of the automotive vehicle based on detection signals of the plurality of angular rate sensors, and diagnoses the sensitivity of the plurality of angular rate sensors based on offset corrected angular rate values of these angular rate sensors when the automotive vehicle is in a turning condition.
18 Citations
17 Claims
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1. An apparatus for correcting and diagnosing angular rate sensors installed in an automotive vehicle, comprising:
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a first angular rate sensor and a second angular rate sensor both installed in an automotive vehicle for generating angular detection signals representing an angular rate of said automotive vehicle; at least one acceleration sensor installed in said automotive vehicle for generating an acceleration detection signal representing an acceleration of said automotive vehicle; a judging section for judging a stopped condition of said automotive vehicle by applying the acceleration detection signal obtained from said acceleration sensor to an allowable variation range, wherein the allowable variation range can be altered during operation; an offset correcting section for generating offsets of the angular detection signals from the first and second angular rate sensors based on a judged result obtained from the judging section; and a sensitivity diagnosing section for diagnosing sensitivities of the first and second angular rate sensors based on corrected angular detection signals from the first and second angular rate sensors, the corrected angular detection signals being generated based on the angular detection signals and the offsets of the angular detection signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus for correcting and diagnosing angular rate sensors in an automotive vehicle, comprising:
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a first angular rate sensor configured to generate a first angular detection signal representing an angular rate of the automotive vehicle; a second angular rate sensor configured to generate a second angular detection signal representing the angular rate of the automotive vehicle; an acceleration sensor configured to generate an acceleration detection signal representing an acceleration of the automotive vehicle; a stopped condition judging section configured to judge a stopped condition of the automotive vehicle by comparing the acceleration detection signal to an allowable acceleration range, and configured to generate a stopped condition indication signal indicating the stopped condition; an offset correcting section configured to generate an angular offset for the first and second angular detection signals based on the stopped condition indication signal, configured to generate a first corrected detection signal based on the first angular detection signal and the angular offset, and configured to generate a second corrected detection signal based on the second angular detection signal and the angular offset; and a sensitivity diagnosing section configured to diagnose sensitivities of the first and second angular rate sensors based on the first and second corrected detection signals, wherein the allowable acceleration range may be modified during operation. - View Dependent Claims (11, 12, 13)
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14. A method for correcting and diagnosing angular rate sensors in an automotive vehicle, comprising:
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generating a first angular detection signal representing an angular rate of the automotive vehicle; generating second angular detection signal representing the angular rate of the automotive vehicle; generating an acceleration detection signal representing an acceleration of the automotive vehicle; judging a stopped condition of the automotive vehicle by comparing the acceleration detection signal to an allowable acceleration range; generating a stopped condition indication signal, indicating the stopped condition of the automotive vehicle; generating an angular offset for the first and second angular detection signal based on the stopped condition indication signal; generating a first corrected detection signal based on the first angular detection signal and the angular offset; generating a second corrected detection signal based on the second angular detection signal and the angular offset; and generating a diagnosis signal based on the first and second corrected detection signals, the diagnosis signal indicating the sensitivities of the first and second angular rate sensors, wherein the allowable acceleration range maybe modified during operation. - View Dependent Claims (15, 16, 17)
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Specification