Vehicle yaw rate correction
First Claim
1. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor, the method comprising:
- (a) capturing image data representative of an environment exterior of the vehicle;
(b) determining, by a processor, if the vehicle is moving and has a zero yaw rate at least based on processing of captured image data;
(c) obtaining a first measured yaw rate from the yaw rate sensor when the vehicle is determined in step (b) to be moving and to have a zero yaw rate;
(d) determining, by the processor a yaw rate offset based at least in part on the measured yaw rate obtained in step (c);
(e) obtaining a second measured yaw rate from the yaw rate sensor; and
(f) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset.
1 Assignment
0 Petitions
Accused Products
Abstract
A control system or method for a vehicle references a camera and sensors to determine when an offset of a yaw rate sensor may be updated. The sensors may include a longitudinal accelerometer, a transmission sensor, a vehicle speed sensor, and a steering angle sensor. The offset of the yaw rate sensor may be updated when the vehicle is determined to be stationary by referencing at least a derivative of an acceleration from the longitudinal accelerometer. The offset of the yaw rate sensor may be updated when the vehicle is determined to be moving straight by referencing at least image data captured by the camera. Lane delimiters may be detected in the captured image data and evaluated to determine a level of confidence in the straight movement. When the offset of the yaw rate sensor is to be updated, a ratio of new offset to old offset may be used.
-
Citations
23 Claims
-
1. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor, the method comprising:
-
(a) capturing image data representative of an environment exterior of the vehicle; (b) determining, by a processor, if the vehicle is moving and has a zero yaw rate at least based on processing of captured image data; (c) obtaining a first measured yaw rate from the yaw rate sensor when the vehicle is determined in step (b) to be moving and to have a zero yaw rate; (d) determining, by the processor a yaw rate offset based at least in part on the measured yaw rate obtained in step (c); (e) obtaining a second measured yaw rate from the yaw rate sensor; and (f) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor, the method comprising:
-
(a) obtaining an acceleration from an accelerometer positioned to sense a longitudinal acceleration of the vehicle; (b) determining, by a processor a rate of change of the acceleration; (c) carrying out a determination of a yaw rate offset based at least in part on a first measured yaw rate from the yaw rate sensor, at least in part depending on whether the rate of change of the acceleration determined in step (b) is approximately zero; (d) obtaining a second measured yaw rate from the yaw rate sensor; and (e) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset. - View Dependent Claims (14, 15, 16, 17)
-
-
18. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor and at least one other sensor, the method comprising:
-
(a) determining, by a processor, whether the vehicle has a yaw rate of zero; (b) obtaining a first measured yaw rate from the yaw rate sensor depending on the determination made in step (a); (c) determining, by the processor a yaw rate offset that is a first selected proportion of the first measured yaw rate obtained in step (b) and a second selected proportion of a previous yaw rate offset, wherein the first selected proportion and the second selected proportion are selected based on a set of criteria based on data determined from the at least one other sensor; (d) obtaining a second measured yaw rate from the yaw rate sensor; and (e) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset. - View Dependent Claims (19, 20, 21, 22, 23)
-
Specification