Method for the calibration of a yaw rate measurement
First Claim
1. A method for the calibration of a yaw rate measurement in a motor vehicle, wherein the motor vehicle features at least one device for determining the yaw rate and a camera system, and optionally further features a steering angle sensor or a transverse acceleration sensor,characterized in thatthe camera system is oriented to detect an environment in front of the motor vehicle,a first calibration is carried out when the motor vehicle is at a standstill, anda second calibration is carried out when the motor vehicle is moving,wherein for the second calibration when the vehicle is moving, the camera system detects the environment in front of the motor vehicle to produce image data, and a roadway lane on which the motor vehicle is driving is predicted from the image data, and a yaw rate is estimated from at least a course of the roadway lane as determined from the image data, and an actual yaw rate measurement is compensated based on the estimated yaw rate to produce a calibrated output value of the yaw rate.
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Accused Products
Abstract
In a method for the calibration of a yaw rate measurement in a motor vehicle, the motor vehicle features at least one device for determining the yaw rate, a camera system which is oriented in the forward direction, and, if applicable, a steering angle sensor or a lateral acceleration sensor. At least one initial calibration is carried out at a standstill and at least one second calibration is carried out when the motor vehicle is moving. The second calibration uses image data of the camera system, which detects the environment in front of the motor vehicle, to predict the course of the roadway lane on which the vehicle is driving, from which the yaw rate is estimated.
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Citations
13 Claims
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1. A method for the calibration of a yaw rate measurement in a motor vehicle, wherein the motor vehicle features at least one device for determining the yaw rate and a camera system, and optionally further features a steering angle sensor or a transverse acceleration sensor,
characterized in that the camera system is oriented to detect an environment in front of the motor vehicle, a first calibration is carried out when the motor vehicle is at a standstill, and a second calibration is carried out when the motor vehicle is moving, wherein for the second calibration when the vehicle is moving, the camera system detects the environment in front of the motor vehicle to produce image data, and a roadway lane on which the motor vehicle is driving is predicted from the image data, and a yaw rate is estimated from at least a course of the roadway lane as determined from the image data, and an actual yaw rate measurement is compensated based on the estimated yaw rate to produce a calibrated output value of the yaw rate.
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5. A method of calibrating a yaw rate measurement in a motor vehicle that includes a camera system and an arrangement for measuring a yaw rate of said motor vehicle, wherein said camera system is oriented to detect an environment in front of said motor vehicle, and said method comprises the steps:
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measuring a measured yaw rate of said motor vehicle; determining whether said motor vehicle is at a standstill or is driving; performing a first calibration of said measured yaw rate when said motor vehicle is at a standstill; performing a second calibration of said measured yaw rate when said motor vehicle is driving; wherein said second calibration comprises; detecting said environment in front of said motor vehicle using said camera system to produce image data; evaluating said image data to determine therefrom a predicted driving lane on a roadway on which said motor vehicle is driving; determining a predicted course of said driving lane; from said predicted course of said driving lane, determining an estimated yaw rate of said motor vehicle driving along said predicted course of said driving lane; and calibrating said measured yaw rate based on at least said estimated yaw rate. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12)
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13. A method of calibrating a yaw rate measurement in a motor vehicle that includes a camera system and an arrangement for measuring a yaw rate of said motor vehicle, wherein said camera system is oriented to detect an environment in front of said motor vehicle, and said method comprises the steps:
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measuring a measured yaw rate of said motor vehicle; determining whether said motor vehicle is at a standstill or is driving; performing a first calibration of said measured yaw rate when said motor vehicle is at a standstill, or performing a second calibration of said measured yaw rate when said motor vehicle is driving; wherein said second calibration comprises; detecting said environment in front of said motor vehicle using said camera system to produce image data; evaluating said image data to determine therefrom a predicted driving lane on a roadway on which said motor vehicle is driving; determining a predicted course of said driving lane including a radius of curvature of said driving lane; from said predicted course of said driving lane, determining an estimated yaw rate of said motor vehicle driving along said predicted course of said driving lane having said radius of curvature; and calibrating said measured yaw rate based on at least said estimated yaw rate; wherein said second calibration is performed when said radius of curvature of said driving lane can be adequately determined; and wherein only said first calibration is performed if in an attempt to perform said second calibration it is determined that said radius of curvature cannot be adequately determined.
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Specification