Method for measuring the yaw velocity of a vehicle
First Claim
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1. A process for measuring a loop speed of a vehicle, comprising the steps of:
- providing a loop speed measuring device which provides an estimate of said loop speed;
adjusting said loop speed measurement device when a fixed obstacle is detected in a path of the vehicle, said adjusting being related to a longitudinal speed of the vehicle, a longitudinal distance from the vehicle to the fixed obstacle and a relative transverse speed of the fixed obstacle in relation to the vehicle.
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Abstract
Method of measuring the yaw velocity of a vehicle. An estimate of the yaw velocity is made by either a gyrometer or a steering angle sensor. This estimate is selectively readjusted when a fixed obstacle is sensed using periodic updates of the longitudinal speed of the vehicle, the distance from the fixed obstacle and the relative transverse speed of the obstacle.
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7 Claims
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1. A process for measuring a loop speed of a vehicle, comprising the steps of:
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providing a loop speed measuring device which provides an estimate of said loop speed; adjusting said loop speed measurement device when a fixed obstacle is detected in a path of the vehicle, said adjusting being related to a longitudinal speed of the vehicle, a longitudinal distance from the vehicle to the fixed obstacle and a relative transverse speed of the fixed obstacle in relation to the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification