US 8,694,224 B2 · Vehicle yaw rate correction

Abstract

A control system or method for a vehicle references a camera and sensors to determine when an offset of a yaw rate sensor may be updated. The sensors may include a longitudinal accelerometer, a transmission sensor, a vehicle speed sensor, and a steering angle sensor. The offset of the yaw rate sensor may be updated when the vehicle is determined to be stationary by referencing at least a derivative of an acceleration from the longitudinal accelerometer. The offset of the yaw rate sensor may be updated when the vehicle is determined to be moving straight by referencing at least image data captured by the camera. Lane delimiters may be detected in the captured image data and evaluated to determine a level of confidence in the straight movement. When the offset of the yaw rate sensor is to be updated, a ratio of new offset to old offset may be used.

Claims23

Dependent claims

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.

4 more elements

Dependencies are inferred from the claim text.

Vehicle yaw rate correction

Life of this patent

Vehicle yaw rate correction

Life of this patent

Abstract

Claims23