# US 11,906,307 B2 · Correction method for gyro sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,307 B2 - Document ID: US11906307B2 - Status: Granted - Kind: B2 - Application number: 17/417,408 - Filed: 2019-12-27 - Published: 2022-03-10 - Granted: 2024-02-20 - Earliest claimed: 2018-12-28 - Assignees: Aichi Steel Corporation - Applicants: Aichi Steel Corporation - Inventors: Michiharu Yamamoto; Kazuo Urakawa; Kota Aratani - Web page: https://patentgrep.com/patent/US11906307B2 ## CPC - G01C 19/5776: Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719 - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G01C 21/188: {for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems} - G01C 21/28: with correlation of data from several navigational instruments - G01C 25/005: {initial alignment, calibration or starting-up of inertial devices} - G05D 1/0261: {using magnetic plots} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/24: Arrangements for determining position or orientation - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - G08G 1/094: {Hardware aspects; Signal processing or signal properties, e.g. frequency bands} - B60W 2520/06: Direction of travel - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - G08G 1/02: using treadles built into the road (pads or other sensitive devices responsive to passage of vehicles E01F11/00) - G08G 1/042: using inductive or magnetic detectors - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A correction method for a gyro sensor which measures angular velocity of a vehicle about an axis in a vertical direction includes a generation process of performing a process on a difference between a measured azimuth obtained by performing a process on an sensor output, which is an output from the gyro sensor, and a vehicle azimuth estimated by using markers arranged along a traveling road of the vehicle to obtain correction information and a correction process of correcting the measured azimuth obtained by performing the process on the sensor output, which is the output from the gyro sensor, by using the correction information. ## Claims ### Claim 1 A correction method for a gyro sensor which measures angular velocity of a vehicle about an axis in a vertical direction and outputs a sensor output indicating the angular velocity, the method comprising: generating a measured azimuth, which is a measurement value of a turning angle of the vehicle, by temporally integrating the angular velocity indicated by the sensor output; a lateral shift amount detection process of detecting a lateral shift amount of the vehicle with respect to markers arranged along a traveling road of the vehicle; an azimuth estimation process of estimating a vehicle azimuth by obtaining a shift angle of the vehicle with respect to a line segment connecting two of the markers by using the lateral shift amount of the vehicle with respect to two of the markers arranged along the traveling road; a generation process of obtaining correction information based on a difference between the measured azimuth and the vehicle azimuth; and a correction process of correcting the angular velocity indicated by the sensor output or the measured azimuth by using the correction information. ### Claim 2 (depends on 1) The correction method for the gyro sensor in claim 1, wherein the correction information is information indicating a temporal change of the difference, and the correction process is a process of correcting the angular velocity indicated by the sensor output or the measured azimuth with a correction amount based on the correction information. ### Claim 3 (depends on 1) The correction method for the gyro sensor in claim 1, wherein the correction information is a temporal average value of the difference, and the correction process is a process of shifting the measured azimuth by a correction amount corresponding to the temporal average value of the difference. ### Claim 4 A correction method for a gyro sensor which measures angular velocity of a vehicle about an axis in a vertical direction and outputs a sensor output indicating the angular velocity, the method comprising: a generation process of obtaining correction information based on a difference between a measured azimuth obtained by using the angular velocity indicated by the sensor output and a vehicle azimuth estimated by using markers arranged along a traveling road of the vehicle; and a correction process of correcting the angular velocity indicated by the sensor output or the measured azimuth by using the correction information, wherein: the correction information is information indicating a temporal change of the difference, the correction process is a process of correcting the sensor output or the measured azimuth with a correction amount based on the correction information, the correction information includes at least a gradient a of a straight line approximating the temporal change of the difference, and the correction process is a process of shifting the output from the gyro sensor by the correction amount corresponding to the gradient a. ### Claim 5 (depends on 4) The correction method for the gyro sensor in claim 4, comprising: a lateral shift amount detection process of detecting a lateral shift amount of the vehicle with respect to each of the markers; and an azimuth estimation process of estimating the vehicle azimuth based on lateral shift amounts detected by the lateral shift amount detection process for at least two of the markers. ### Claim 6 (depends on 5) The correction method for the gyro sensor in claim 5, comprising an azimuth information obtaining process of obtaining, from an information providing part provided for providing azimuth information which can identify a direction of a line segment connecting two of the markers or a direction of the traveling road, the azimuth information, wherein in the azimuth estimation process, the vehicle azimuth is estimated with reference to a direction identified by the azimuth information. ### Claim 7 (depends on 6) The correction method for the gyro sensor in claim 6, wherein the information providing part is a wireless tag attached to the each of the markers. ### Claim 8 A correction method for a gyro sensor which measures angular velocity of a vehicle about an axis in a vertical direction and outputs a sensor output indicating the angular velocity, the method comprising: a generation process of obtaining correction information based on a difference between a measured azimuth obtained by using the angular velocity indicated by the sensor output and a vehicle azimuth estimated by using markers arranged along a traveling road of the vehicle; and a correction process of correcting the angular velocity indicated by the sensor output or the measured azimuth by using the correction information, wherein: the correction information is information indicating a temporal change of the difference, the correction process is a process of correcting the sensor output or the measured azimuth with a correction amount based on the correction information, the correction information includes at least a gradient a and an intercept b of a straight line approximating the temporal change of the difference, and the correction process is a process of shifting the measured azimuth by the correction amount obtained by multiplying a value of the gradient a by an elapsed time T from a starting point of the temporal change of the difference and adding a value of the intercept b. ### Claim 9 (depends on 8) The correction method for the gyro sensor in claim 8, comprising: a lateral shift amount detection process of detecting a lateral shift amount of the vehicle with respect to each of the markers; and an azimuth estimation process of estimating the vehicle azimuth based on lateral shift amounts detected by the lateral shift amount detection process for at least two of the markers. ### Claim 10 (depends on 9) The correction method for the gyro sensor in claim 9, comprising an azimuth information obtaining process of obtaining, from an information providing part provided for providing azimuth information which can identify a direction of a line segment connecting two of the markers or a direction of the traveling road, the azimuth information, wherein in the azimuth estimation process, the vehicle azimuth is estimated with reference to a direction identified by the azimuth information. ### Claim 11 (depends on 10) The correction method for the gyro sensor in claim 10, wherein the information providing part is a wireless tag attached to the each of the markers. ### Claim 12 A correction method for a gyro sensor which measures angular velocity of a vehicle about an axis in a vertical direction and outputs a sensor output indicating the angular velocity, the method comprising: a generation process of obtaining correction information based on a difference between a measured azimuth obtained by using the angular velocity indicated by the sensor output and a vehicle azimuth estimated by using markers arranged along a traveling road of the vehicle; and a correction process of correcting the angular velocity indicated by the sensor output by using the correction information, wherein: the correction information is information including at least a temporal change amount of the difference, and the correction process is a process of correcting the angular velocity indicated by the sensor output by shifting the output from the gyro sensor by a correction amount corresponding to the temporal change amount.