Process for determining state of a vehicle

• US 9,916,699 B2
• Filed: 07/24/2017
• Issued: 03/13/2018
• Est. Priority Date: 03/01/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Chundrlik, Jr., William J., Johnson, Nathaniel, Wimmershoff, Marc
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/657,332
• Publication Number:
  US 20170323493A1
• Time in Patent Office: 232 Days
• CPC Class Codes: B60R 1/24 in front of the vehicle
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2050/0049 Signal offset
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: G01J 2005/0077 Imaging
• CPC Class Codes: G01J 5/024 Special manufacturing steps or sacrificial layers or layer structures
• CPC Class Codes: G01J 5/34 using capacitors, e.g. pyroelectric capacitors
• CPC Class Codes: G01P 13/00 Indicating or recording presence, absence, or direction, of movement electric switches H01H; counting moving objects G06M7/00
• CPC Class Codes: G01P 3/50 for measuring linear speed G01P3/56 takes precedence
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G07C 5/02 Registering or indicating driving, working, idle, or waiting time only apparatus forming part of taximeters G07B13/00
• CPC Class Codes: G07C 5/08 Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
• CPC Class Codes: H04N 23/80 : Camera processing pipelines; Components thereof
• CPC Class Codes: H04N 25/76 : Addressed sensors, e.g. MOS or CMOS sensors
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source

Abstract

A method for determining a corrected yaw rate for a vehicle includes receiving a first yaw rate input from a yaw rate sensor of the vehicle and determining if the vehicle is moving or stationary. If the vehicle is determined to be moving, the method includes determining a steering angle of the vehicle, and determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle. A yaw rate offset is determined based at least in part on the determined offset correction value and the received first yaw rate input. A second yaw rate input is received from the yaw rate sensor of the vehicle, and a corrected yaw rate value is determined based at least in part on the received second yaw rate input and the determined yaw rate offset.

Claims

1. A method for determining a corrected yaw rate for a vehicle, said method comprising:

receiving a first yaw rate input from a yaw rate sensor of the vehicle;

determining, by a processor, if the vehicle is moving or stationary;

if the vehicle is determined to be moving, determining a steering angle of the vehicle;

determining, by the processor, an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle;

determining, by the processor, a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input;

receiving a second yaw rate input from the yaw rate sensor of the vehicle; and

determining, by the processor, a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset.

2. The method of claim 1, wherein, if the vehicle is determined to be stationary, said method comprises determining that the offset correction value is within 10 percent of a previously determined offset correction value.

3. The method of claim 1, wherein, if the vehicle is determined to be moving below a threshold speed and the steering angle is determined to be less than a threshold level, the yaw rate offset is not changed from a previously determined yaw rate offset.

4. The method of claim 1, wherein, if the vehicle is determined to be moving at a determined speed that is above a threshold speed or the steering angle is determined to be greater than a threshold level, the yaw rate offset is determined based at least in part on the determined speed or the determined steering angle.

5. The method of claim 1, wherein, if the vehicle is determined to be moving at a determined speed that is above a threshold speed and the steering angle is determined to be greater than a threshold level, the yaw rate offset is determined based at least in part on the determined speed and the determined steering angle.

6. The method of claim 1, wherein determining the offset correction value is based at least in part on determination of lane markers on the road being traveled by the vehicle.

7. The method of claim 1, wherein determining the offset correction value is based at least in part on how many lane markers are determined on the road being traveled by the vehicle.

8. The method of claim 1, wherein determining the yaw rate offset comprises using a first selected proportion of the received first yaw rate input and a second selected proportion of a previously determined yaw rate offset.

9. The method of claim 8, comprising selecting the first and second selected proportions based at least in part on detection of lane markers on the road being traveled by the vehicle.

10. The method of claim 8, wherein a ratio of the first and second selected proportions varies between 1:

99 and 1;

9.

11. The method of claim 8, comprising selecting the first selected proportion and the second selected proportion based on a set of criteria based on data determined from at least one other sensor of the vehicle.

12. The method of claim 11, wherein the at least one sensor comprises a vehicle-mounted camera.

13. A method for determining a corrected yaw rate for a vehicle, said method comprising:

receiving a first yaw rate input from a yaw rate sensor of the vehicle;

determining, by a processor, if the vehicle is moving or stationary;

if the vehicle is determined to be moving, determining a steering angle of the vehicle;

determining, by the processor, an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle;

determining, by the processor, a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input;

receiving a second yaw rate input from the yaw rate sensor of the vehicle;

determining, by the processor, a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset;

wherein, if the vehicle is determined to be moving below a first threshold speed and the steering angle is determined to be less than a first threshold level, the yaw rate offset is not changed from a previously determined yaw rate offset; and

wherein, if the vehicle is determined to be moving at a determined speed that is above a second threshold speed or the steering angle is determined to be greater than a second threshold level, the yaw rate offset is determined based at least in part on the determined speed or the determined steering angle.

14. The method of claim 13, wherein, if the vehicle is determined to be stationary, said method comprises determining that the offset correction value is within 10 percent of a previously determined offset correction value.

15. The method of claim 13, wherein, if the vehicle is determined to be moving at a determined speed that is above the second threshold speed and the steering angle is determined to be greater than the second threshold level, the yaw rate offset is determined based at least in part on the determined speed and the determined steering angle.

16. The method of claim 13, wherein determining the offset correction value is based at least in part on determination of lane markers on the road being traveled by the vehicle.

17. The method of claim 13, wherein determining the yaw rate offset comprises using a first selected proportion of the received first yaw rate input and a second selected proportion of a previously determined yaw rate offset.

18. A method for determining a corrected yaw rate for a vehicle, said method comprising:

receiving a first yaw rate input from a yaw rate sensor of the vehicle;

determining, by a processor, if the vehicle is moving or stationary;

if the vehicle is determined to be moving, determining a steering angle of the vehicle;

determining, by the processor, an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle;

determining lane markers on the road being traveled by the vehicle via processing of image data captured by a vehicle-mounted camera;

wherein determining the offset correction value is based at least in part on determination of lane markers on the road being traveled by the vehicle;

determining, by the processor, a yaw rate offset based at least in part on the determined offset correction value and the received first yaw rate input;

receiving a second yaw rate input from the yaw rate sensor of the vehicle; and

determining, by the processor, a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset.

19. The method of claim 18, wherein, if the vehicle is determined to be stationary, said method comprises determining that the offset correction value is within 10 percent of a previously determined offset correction value.

20. The method of claim 18, wherein determining the offset correction value is based at least in part on how many lane markers are determined on the road being traveled by the vehicle.