Apparatus and method for correcting offset of yaw rate sensor and system for controlling speed of vehicle with the said apparatus

• US 9,205,742 B2
• Filed: 11/18/2013
• Issued: 12/08/2015
• Est. Priority Date: 07/19/2013
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Seo, Kyung Il, Ahn, Jang Mo
• Primary Examiner(s): Anwari, Maceeh
• Application Number:
  US14/082,459
• Publication Number:
  US 20150025771A1
• Time in Patent Office: 750 Days
• Field of Search: 701/96
• US Class Current: 1/1
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0049 Signal offset
• CPC Class Codes: B60W 2050/0088 Adaptive recalibration
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

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.

Claims

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.

2. The offset correcting apparatus of claim 1, wherein the first offset correcting unit includes:

a straight drive determining unit which determines whether its own vehicle is being driven in a straight line using a sensor which is installed in its own vehicle;

a yaw rate estimating unit which if it is determined that its own vehicle is being driven in a straight line, estimates a first yaw rate using a longitudinal speed of its own vehicle and a lateral acceleration of its own vehicle;

a yaw rate measuring unit which if it is determined that its own vehicle is being driven in a straight line, measures a second yaw rate using the yaw rate sensor; and

a first yaw rate offset correcting unit which corrects the offset of the yaw rate sensor using a difference value between the first yaw rate and the second yaw rate.

3. The offset correcting apparatus of claim 2, wherein the straight drive determining unit uses at least one selected from a radar sensor, a G sensor, and a steering angle sensor as a sensor which is installed in its own vehicle.

4. The offset correcting apparatus of claim 3, wherein if the radar sensor is used to determine that distances to stopped targets which are aligned in a driving direction of its own vehicle are constant, the straight drive determining unit determines that its own vehicle is being driven in a straight line,

if it is determined that the absolute value of the lateral acceleration obtained using the G sensor is equal to or smaller than a first reference value, the straight drive determining unit determines that its own vehicle is being driven in a straight line, or

if it is determined that a steering angle obtained using the steering angle sensor is equal to or smaller than a second reference value, the straight drive determining unit determines that its own vehicle is being driven in a straight line.

5. The offset correcting apparatus of claim 2, wherein if a difference value between the first yaw rate and the second yaw rate is equal to or larger than a third reference value, the first yaw rate offset correcting unit corrects the offset of the yaw rate sensor using the difference value between the first yaw rate and the second yaw rate.

6. The offset correcting apparatus of claim 1, wherein the current status determining unit includes:

a speed measuring unit which measures a speed of its own vehicle; and

a speed utilizing unit which if the speed of its own vehicle is larger than zero, determines its own vehicle as the driving vehicle and if the speed of its own vehicle is zero, determine its own vehicle as the stopped vehicle.

7. An offset correcting method of a yaw rate sensor, comprising:

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; and

wherein 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.

8. The offset correcting method of claim 7, wherein the correcting of an offset when its own vehicle is determined as the driving vehicle, includes:

determining whether its own vehicle is being driven in a straight line using a sensor which is installed in its own vehicle;

estimating a first yaw rate using a longitudinal speed of its own vehicle and a lateral acceleration of its own vehicle if it is determined that its own vehicle is being driven in a straight line;

measuring a second yaw rate using the yaw rate sensor if it is determined that its own vehicle is being driven in a straight line; and

correcting the offset of the yaw rate sensor using a difference value between the first yaw rate and the second yaw rate.

9. The offset correcting method of claim 8, wherein the determining of whether its own vehicle is being driven in a straight line uses at least one selected from a radar sensor, a G sensor, and a steering angle sensor as a sensor which is installed in its own vehicle.

10. The offset correcting method of claim 9, wherein the determining of whether its own vehicle is being driven in a straight line includes:

determining that its own vehicle is being driven in a straight line if the radar sensor is used to determine that distances to stopped targets which are aligned in a driving direction of its own vehicle are constant,

determining that its own vehicle is being driven in a straight line if it is determined that the absolute value of the lateral acceleration obtained using the G sensor is equal to or smaller than a first reference value, or

determining that its own vehicle is being driven in a straight line if it is determined that a steering angle obtained using the steering angle sensor is equal to or smaller than a second reference value.

11. The offset correcting method of claim 8, wherein when a difference value between the first yaw rate and the second yaw rate is equal to or larger than a third reference value, the correcting using the difference value includes correcting the offset of the yaw rate sensor using the difference value between the first yaw rate and the second yaw rate.

12. The offset correcting method of claim 7, wherein the determining of a status of its own vehicle as one of a driving vehicle and a stopped vehicle includes:

measuring a speed of its own vehicle; and

determining its own vehicle as the driving vehicle if the speed of its own vehicle is greater than zero, and determining its own vehicle as the stopped vehicle if the speed of its own vehicle is zero.

13. A vehicle speed control system, comprising:

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; 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.

14. The vehicle speed control system of claim 13, wherein the vehicle speed control device includes:

a first sensing unit which senses object information related with objects which are present around its own vehicle;

a second sensing unit which senses driving information related with the driving of its own vehicle;

a preceding vehicle detecting unit which detects a preceding vehicle to follow by combining object information and driving information;

a target acceleration calculating unit which calculates a target acceleration based on a distance to the preceding vehicle and a speed of its own vehicle; and

a vehicle speed adjusting unit which controls an accelerator and a decelerator of its own vehicle based on the target acceleration to adjust a speed of its own vehicle.