IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0779881
(2013-02-28)
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등록번호 |
US-8694224
(2014-04-08)
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발명자
/ 주소 |
- Chundrlik, Jr., William J.
- Johnson, Nathaniel
- Wimmershoff, Marc
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출원인 / 주소 |
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대리인 / 주소 |
Gardner, Linn, Burkhart & Flory, LLP
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인용정보 |
피인용 횟수 :
37 인용 특허 :
294 |
초록
▼
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 senso
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.
대표청구항
▼
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 proce
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. 2. The method of claim 1, wherein step (b) includes: (g) determining, at least from image processing of captured image data that the vehicle is driving straight. 3. The method of claim 2, wherein step (b) further includes: (h) detecting any lane delimiters present in the exterior scene represented by the captured image data;(i) determining whether any lane delimiters detected in step (h) are qualifying lane delimiters which meet selected criteria; and(j) comparing a heading of the vehicle with the direction of at least one qualifying lane delimiter. 4. The method of claim 3, wherein when there are two qualifying lane delimiters, step (j) includes comparing a heading of the vehicle with the direction of the two qualifying lane delimiters. 5. The method of claim 3, wherein step (i) includes determining whether the amount of curvature in any lane delimiters detected in step (h) is below a selected threshold amount of curvature. 6. The method of claim 3, wherein step (i) includes determining whether any lane delimiters detected in step (h) have been detected for more than a selected duration. 7. The method of claim 3, wherein the yaw rate offset is a first selected proportion of the measured yaw rate obtained in step (c) and a second selected proportion of a previous yaw rate offset, and wherein the first and second selected proportions are selected based at least in part on how many lane delimiters meet the selected criteria. 8. The method of claim 1, wherein step (b) includes determining whether a steering angle of the vehicle is less than a selected threshold steering angle. 9. The method of claim 1, wherein step (b) includes determining whether the speed of the vehicle is greater than a selected threshold speed. 10. The method of claim 1, wherein step (b) includes determining whether the steering angle of the vehicle is approximately zero. 11. The method of claim 1, wherein the yaw rate offset is a first selected proportion of the measured yaw rate obtained in step (c) and a second selected proportion of a previous yaw rate offset. 12. The method of claim 1, wherein a system of a vehicle is operable to control the operation of at least one brake on the vehicle based on the determined corrected yaw rate obtained. 13. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor, the method comprising: (a) obtaining an acceleration from an accelerometer positioned to sense a longitudinal acceleration of the vehicle;(b) determining, by a processor a rate of change of the acceleration;(c) carrying out a determination of a yaw rate offset based at least in part on a first measured yaw rate from the yaw rate sensor, at least in part depending on whether the rate of change of the acceleration determined in step (b) is approximately zero;(d) obtaining a second measured yaw rate from the yaw rate sensor; and(e) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset. 14. The method of claim 13, wherein step (c) is carried out depending at least in part on whether the rate of change of the acceleration determined in step (b) is approximately zero for a selected duration. 15. The method of claim 13, wherein step (c) is carried out depending in part on a determination of whether the vehicle has a speed that is approximately zero. 16. The method of claim 13, wherein the yaw rate offset is a first selected proportion of the measured yaw rate obtained in step (c) and a second selected proportion of a previous yaw rate offset. 17. The method of claim 13, wherein a system of a vehicle is operable to control the operation of at least one brake on the vehicle based on the determined corrected yaw rate obtained. 18. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor and at least one other sensor, the method comprising: (a) determining, by a processor, whether the vehicle has a yaw rate of zero;(b) obtaining a first measured yaw rate from the yaw rate sensor depending on the determination made in step (a);(c) determining, by the processor a yaw rate offset that is a first selected proportion of the first measured yaw rate obtained in step (b) and a second selected proportion of a previous yaw rate offset, wherein the first selected proportion and the second selected proportion are selected based on a set of criteria based on data determined from the at least one other sensor;(d) obtaining a second measured yaw rate from the yaw rate sensor; and(e) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset. 19. The method of claim 18, wherein the data includes a derivative of longitudinal acceleration for the vehicle and wherein the set of criteria includes whether the derivative of the longitudinal acceleration for the vehicle is approximately zero. 20. The method of claim 18, wherein the ratio of the first and second selected proportions varies between about 1:99 and about 1:9. 21. The method of claim 18, wherein the at least one sensor includes a vehicle-mounted camera and wherein the data includes image data captured by the vehicle-mounted camera and representative of the environment exterior of the vehicle. 22. The method of claim 21, wherein the set of criteria includes the number of lane delimiters detected in the captured image data. 23. The method of claim 18, wherein a system of a vehicle is operable to control the operation of at least one brake on the vehicle based on the determined corrected yaw rate obtained.
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