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
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First Claim
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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.

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