Process for determining state of a vehicle

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 if the vehicle is moving or stationary;
• if the vehicle is determined to be moving, determining a steering angle of the vehicle;
• determining an offset correction value based at least in part on a determined speed of the vehicle and the determined steering angle;
• determining 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 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.

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 if the vehicle is moving or stationary;
• if the vehicle is determined to be moving, determining a steering angle of the vehicle;
• determining 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 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 a corrected yaw rate value based at least in part on the received second yaw rate input and the determined yaw rate offset.