Apparatus and method for correcting offset of yaw rate sensor and system for controlling speed of vehicle with the said apparatus
First Claim
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1. An offset correcting apparatus of a yaw rate sensor, comprising:
- a non-transitory computer-readable storage medium comprising;
a current status determining unit which determines a status of its own vehicle as one of a driving vehicle and a stopped vehicle;
a first offset correcting unit that determines whether its own vehicle is being driven in a straight line when its own vehicle is determined as the driving vehicle, and corrects an offset of a yaw rate sensor installed in its own vehicle when it is determined that its own vehicle is being driven in the straight line; and
a second offset correcting unit that determines whether a position of its own vehicle has changed based on whether a distance between its own vehicle and a stopped object has changed when its own vehicle is determined as the stopped vehicle, and corrects the offset of the yaw rate sensor when it is determined that the position of its own vehicle has not changed;
wherein the second offset correcting unit includes;
a position change determining unit which determines whether a position of its own vehicle is changed for a predetermined time; and
a second yaw rate offset correcting unit which if it is determined that the position of its own vehicle is not changed, corrects the offset of the yaw rate sensor based on a bias voltage which is applied to the equipment which is installed in its own vehicle;
wherein the position change determining unit uses a radar sensor or an angular velocity sensor when determining whether the position of its own vehicle is changed; and
wherein if the radar sensor is used to determine that the distance to a designated target which does not move is changed, the position change determining unit determines that the position of its own vehicle is changed or if the angular velocity sensor is used to determine that a position of equipment which is installed in its own vehicle is changed, the position change determining unit determines that the position of its own vehicle is changed.
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Abstract
The present invention suggests an offset correcting apparatus of a yaw rate sensor which corrects an offset of a yaw sensor in accordance with a status of a vehicle in a cruise control system, a method thereof, and a vehicle speed control system including the apparatus.
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Citations
14 Claims
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1. An offset correcting apparatus of a yaw rate sensor, comprising:
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a non-transitory computer-readable storage medium comprising; a current status determining unit which determines a status of its own vehicle as one of a driving vehicle and a stopped vehicle; a first offset correcting unit that determines whether its own vehicle is being driven in a straight line when its own vehicle is determined as the driving vehicle, and corrects an offset of a yaw rate sensor installed in its own vehicle when it is determined that its own vehicle is being driven in the straight line; and a second offset correcting unit that determines whether a position of its own vehicle has changed based on whether a distance between its own vehicle and a stopped object has changed when its own vehicle is determined as the stopped vehicle, and corrects the offset of the yaw rate sensor when it is determined that the position of its own vehicle has not changed;
wherein the second offset correcting unit includes;
a position change determining unit which determines whether a position of its own vehicle is changed for a predetermined time; anda second yaw rate offset correcting unit which if it is determined that the position of its own vehicle is not changed, corrects the offset of the yaw rate sensor based on a bias voltage which is applied to the equipment which is installed in its own vehicle; wherein the position change determining unit uses a radar sensor or an angular velocity sensor when determining whether the position of its own vehicle is changed; and
wherein if the radar sensor is used to determine that the distance to a designated target which does not move is changed, the position change determining unit determines that the position of its own vehicle is changed or if the angular velocity sensor is used to determine that a position of equipment which is installed in its own vehicle is changed, the position change determining unit determines that the position of its own vehicle is changed. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An offset correcting method of a yaw rate sensor, comprising:
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determining, using a current status determining unit of a non-transitory computer-readable storage medium, a status of its own vehicle as one of a driving vehicle and a stopped vehicle; determining whether its own vehicle is being driven in a straight line when its own vehicle is determined as the driving vehicle, and correcting an offset of a yaw rate sensor installed in its own vehicle when it is determined that its own vehicle is being driven in the straight line; and determining whether a position of its own vehicle has changed based on whether a distance between its own vehicle and a stopped object has changed when its own vehicle is determined as the stopped vehicle, and correcting the offset of the yaw rate sensor when it is determined that the position of its own vehicle has not change;
wherein the correcting of an offset when its own vehicle is determined as the driving vehicle includes;
determining whether a position of its own vehicle is changed for a predetermined time; and
correcting the offset of the yaw rate sensor based on a bias voltage which is applied to the equipment which is installed in its own vehicle if it is determined that the position of its own vehicle is not changed; andwherein the determining of whether a position of its own vehicle is changed uses a radar sensor or an angular velocity sensor when determining whether the position of its own vehicle is changed; and
wherein the determining of whether a position of its own vehicle is changed includes;
determining that the position of its own vehicle is changed if the radar sensor is used to determine that the distance to a designated target which does not move is changed, or determining that the position of its own vehicle is changed if the angular velocity sensor is used to determine that a position of equipment which is installed in its own vehicle is changed. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A vehicle speed control system, comprising:
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an offset correcting apparatus which includes; a current status determining unit which determines a status of its own vehicle as one of a driving vehicle and a stopped vehicle; a first offset correcting unit that determines whether its own vehicle is being driven in a straight line when its own vehicle is determined as the driving vehicle, and corrects an offset of a yaw rate sensor installed in its own vehicle when it is determined that its own vehicle is being driven in the straight line; a second offset correcting unit that determines whether a position of its own vehicle has changed based on whether a distance between its own vehicle and a stopped object has changed when its own vehicle is determined as the stopped vehicle, and corrects the offset of the yaw rate sensor when it is determined that the position of its own vehicle has not changed; a curvature radius estimating device which estimates a radius of curvature of its own vehicle based on the offset of the yaw rate sensor; and a vehicle speed control device which controls a speed of its own vehicle based on sensing information obtained from sensors which are installed in its own vehicle and the radius of curvature of its own vehicle;
wherein the second offset correcting unit includes;
a position change determining unit which determines whether a position of its own vehicle is changed for a predetermined time; anda second yaw rate offset correcting unit which if it is determined that the position of its own vehicle is not changed, corrects the offset of the yaw rate sensor based on a bias voltage which is applied to the equipment which is installed in its own vehicle; wherein the position change determining unit uses a radar sensor or an angular velocity sensor when determining whether the position of its own vehicle is changed; and
wherein if the radar sensor is used to determine that the distance to a designated target which does not move is changed, the position change determining unit determines that the position of its own vehicle is changed or if the angular velocity sensor is used to determine that a position of equipment which is installed in its own vehicle is changed, the position change determining unit determines that the position of its own vehicle is changed. - View Dependent Claims (14)
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Specification