Vehicle yaw rate correction

  • US 8,694,224 B2
  • Filed: 02/28/2013
  • Issued: 04/08/2014
  • Est. Priority Date: 03/01/2012
  • Status: Active Grant
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First Claim
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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.

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