Method, system, and computer program product for determining a yaw rate offset value

Abstract

The invention relates to a method for ascertaining a yaw rate offset value (ωoffset) representative of an offset of a yaw rate measurement of a yaw rate sensor (2) of a motor vehicle (1). The method comprises a step (100) of receiving a number of yaw rate measurements (ω1, ..., ωx) from the yaw rate sensor (2) over a time (t), said measurements constituting a yaw rate measurement signal (Sω), a step (200) of checking whether the motor vehicle (1) is stationary, and a step (500) of ascertaining a yaw rate offset value (ωoffset) on the basis of the yaw rate measurement signal (Sω) if the motor vehicle (1) is stationary. The method is characterized by a step (300) of ascertaining a yaw rate measurement (Gst) forming a gradient (St) in the yaw rate measurement signal (Sω) and a step (400) of ignoring the ascertained yaw rate measurement (Gst) forming the gradient (St) in order to ascertain (500) the yaw rate offset value (ωoffset) (Fig. 5b).

Description

[Technical Field]

[0001] The present invention relates to a method for ascertaining a yaw rate offset value representing an offset in a yaw rate measurement of a yaw rate sensor of a motor vehicle. The present invention also relates to a method for ascertaining a yaw rate value. Ascertaining a yaw rate offset value or a yaw rate value can also be understood to mean estimating these values. The present invention also relates to a corresponding control device for ascertaining a yaw rate offset value and / or a yaw rate value, a corresponding sensor device for a motor vehicle, a corresponding computer program product, and a corresponding motor vehicle. [Background technology]

[0002] Many vehicle systems or driver assistance systems require a reliable yaw rate (or yaw rate value) as an input variable or value for their calculations, e.g., locating the vehicle, determining the orientation of the vehicle, estimating the self-motion of the vehicle, etc. The accuracy of the yaw rate of a yaw rate sensor, especially a gyroscope, is affected primarily by two factors: bias and drift (or measurement distortion) over time and / or temperature.

[0003] A commonly used method to compensate for this inaccuracy is to ascertain or estimate a yaw rate offset value when the vehicle is moving in a straight line (first scenario) or when the vehicle is stationary (second scenario). Such a method is disclosed, for example, in DE 10 2018 115 28 A1. In both the first and second scenarios, the vehicle is assumed to have a theoretical yaw rate of 0° / s. The commonly used method then takes the offset value into account when ascertaining the yaw rate and corrects the final yaw rate value accordingly.

[0004] EP 1264749 discloses a method for compensating a system for measuring the yaw rate of a motor vehicle, the system including a yaw rate sensor, wherein low-frequency components of the signal are filtered from the yaw rate sensor signal, and if the filtered signal does not exceed a predetermined magnitude within a predetermined time interval, the system compares it with the signal present at the sensor output at the end of the time interval.

[0005] German Patent Application Publication No. 19736199 discloses a neutral point estimation device including a first detection unit that detects the fact that a rotational movement of a motor vehicle is being performed. A second detection unit detects the convergence of a yaw rate derivative value obtained from the output signal of a yaw rate sensor. The neutral point detection unit determines the neutral point of the yaw rate sensor from the output signal of the yaw rate sensor when the convergence of the yaw rate derivative value is detected by the second detection unit after the first detection unit detects the execution of a rotational movement. In German Patent Application Publication No. 19736199, linear movement of the vehicle is determined based on the output signal of the yaw rate sensor.

[0006] U.S. Patent No. 9,193,382 describes a method for calculating an offset for a yaw rate signal that may be based at least in part on signals representing drive wheel angle, wheel speed, and yaw rate. These signals may be determined, a threshold comparison may be performed, and the determination of the yaw rate signal may be based at least in part on the result of the threshold comparison.

[0007] DE 10 2018 115 28 A1 relates to a method for ascertaining an offset value for an inertial measurement unit, the offset value referring to a stationary motion state of a motor vehicle. A first set of measurements is acquired at a first instant using the inertial measurement unit. The first set of measurements includes a measurement of the steering angle of one axle of the motor vehicle and a plurality of measurements of the rotational speeds of one or more wheels of the motor vehicle. The first set of measurements is then used to check whether a stationary motion state of the motor vehicle exists. At a second instant, a second set of measurements is acquired in the same way as at the first instant. The second set of measurements is again used to check whether a stationary motion state of the motor vehicle exists. An offset value is ascertained for the inertial measurement unit as a function of the first and second sets of measurements and as a function of the stationary motion state of the motor vehicle. In DE 10 2018 115 28 A1, the stationary motion state of the motor vehicle is characterized by the motor vehicle being stationary or by the motor vehicle moving in a straight line at a constant speed. Summary of the Invention [Problem to be solved by the invention]

[0008] We now see that a problem occurs when the motor vehicle is stationary but rotating around its own axis. In this case, the yaw rate is greater than 0° / s. This scenario can occur, for example, when the vehicle is on a turntable. In this case, the measured yaw rate value is not an offset, but an actual measurement.

[0009] Such turntables are currently used, for example, primarily in public parking lots in Japan, or privately for homes or their driveways in the United States. Such turntables can be used particularly when there is little maneuvering space or in spatially limited conditions. Thus, the turntable allows the vehicle to rotate with minimal maneuvering space.

[0010] Current systems or methods in the prior art estimate or determine the yaw rate offset value when the vehicle is stationary. The prior art systems or methods do not consider or detect whether the vehicle is on a rotating turntable. This results in an inaccurate estimation of the yaw rate offset value when the vehicle is positioned on the rotating turntable. [Means for solving the problem]

[0011] It is an object of the present invention to provide a method, a control device, a sensor device, a computer program product, and a motor vehicle that can be used to more reliably determine a yaw rate offset value or a yaw rate value.

[0012] This object is achieved by a method, a control device, a computer program product and a motor vehicle according to the independent claims.

[0013] The present invention relates to a method for ascertaining (or estimating) a yaw rate offset value constituting an offset in a yaw rate measurement of a yaw rate sensor of a motor vehicle, the method comprising the steps of receiving, over a period of time, a plurality of yaw rate measurements constituting a yaw rate measurement signal from the yaw rate sensor, checking whether the motor vehicle is stationary, and, if the motor vehicle is stationary, ascertaining the yaw rate offset value based on the yaw rate measurement signal.

[0014] According to the present invention, the method comprises the steps of identifying yaw rate measurements that form a gradient in the yaw rate measurement signal and ignoring the yaw rate measurements that form the gradient in order to identify a yaw rate offset value. These steps can be performed in particular within or before the step of identifying the yaw rate offset value. The ignoring step can also be understood as removing and / or filtering the yaw rate measurements that form the gradient. These values ​​are therefore not used to identify or estimate the yaw rate offset value.

[0015] By checking for yaw rate values ​​that form or have a gradient in the yaw rate measurement signal, it is possible to detect whether the motor vehicle is on the rotating turntable. If the yaw rate measurement value forms or has a gradient, it can be concluded that the motor vehicle is on the rotating turntable at that moment (when the motor vehicle is stopped). These yaw rate measurement values ​​do not constitute a yaw rate offset, but are actually measured yaw rate values. Therefore, when checking yaw rate offset values, they should be ignored or removed.

[0016] By checking the yaw rate measurement signal for a gradient, it is possible to detect whether the motor vehicle is stationary but located on a turntable. If it is detected that the motor vehicle is located on a turntable, a step is performed in which the checked yaw rate measurement signal for a gradient is ignored or removed to determine the yaw rate offset value. Therefore, to determine the yaw rate offset value, only a portion of the yaw rate measurement signal is used, and the motor vehicle is stationary and not rotating. This results in a more accurate determination or estimation of the yaw rate offset value.

[0017] The yaw rate measurements that form the gradient can be identified, for example, using statistical procedures. In particular, the yaw rate measurements that form the gradient can be identified by forming a (simple) linear regression with or over the yaw rate measurements or a subset thereof. The gradient of the line thus identified is checked (e.g., whether it is sufficiently steep), and in particular whether this gradient exceeds a gradient threshold (e.g., gradient > 5%). It is then possible to check which yaw rate measurements (e.g., from the subset) belong to this gradient. These yaw rate measurements that belong to the gradient are then ignored. The other yaw rate measurements that do not belong to the gradient can then be used in identifying the yaw rate offset value. This type of gradient determination can also be implemented with limited storage space and / or calculation time and therefore does not require excessive resources. However, other known types of gradient determination are of course also possible.

[0018] A further aspect of the present invention relates to a method for ascertaining (or estimating) a yaw rate value, comprising method steps for ascertaining a yaw rate offset value, particularly according to an aspect or embodiment herein, the method also comprising steps of ascertaining a yaw rate value or yaw rate based on a yaw rate measurement signal (or yaw rate measurements over time) and the ascertained yaw rate offset value.

[0019] Therefore, the method uses the ascertained yaw rate offset value to determine the yaw rate value or yaw rate. The yaw rate value or the last or current actually measured yaw rate value ω real is the yaw rate offset value ω offset This allows the yaw rate value or yaw rate ω to be ascertained. This can be done according to the following formula: ω(t)=ω real +ω offset (t)[1] where ω offset (t)=Bias+Drift(t)[2].

[0020] It has been found that a problem occurs when the yaw rate offset value is ascertained, i.e., here in equation [2], if the vehicle is stationary but rotating about its own axis (or the (vertical) vehicle axis). In this case, the yaw rate is greater than 0° / s. This scenario can occur, for example, when the vehicle is on a turntable. This problem is ameliorated by the method according to the invention for ascertaining the yaw rate offset value.

[0021] For example, the turntable can be a vehicle turntable or a roadway turntable. Such a turntable is a rotating (or rotatable) disk (or plate) designed to rotate a vehicle positioned thereon, in particular about its (vertical) axis. The turntable may be a circular disk or plate, in particular about which a motor vehicle can move about its (vertical) axis. The turntable therefore rotates about its axis when a motor vehicle is stationary on it. The turntable is typically mounted on the ground or recessed into the ground. The turntable may be located on a roadway or in a garage, or may be mounted on the ground of a roadway or garage or recessed into the ground. The turntable can be rotated or swiveled manually or by motorized means. The purpose or benefit of the turntable is typically simplified and / or safer exit or maneuvering of a motor vehicle from a roadway or garage.

[0022] In one embodiment, checking whether the motor vehicle is stationary comprises checking whether the speed of the motor vehicle is equal to or about 0 and / or whether the wheel pulses of the motor vehicle are equal to or about 0. In particular, here it may be checked whether the delta pulses from all wheels of the motor vehicle are equal to or about 0 for a predetermined debouncing time (e.g., at least or about 400 ms).

[0023] In one embodiment, the method may particularly comprise a step of comparing the yaw rate measurement signal (or a plurality of yaw rate measurements) with a threshold. In particular, each yaw rate measurement may be individually compared with the threshold. The threshold may particularly have a value of about or at most 3° / s, in particular about or at most 2.5° / s, in particular about 1° / s. In particular, yaw rate measurements below the threshold may include yaw rate measurements when the turntable starts or stops rotating.

[0024] Therefore, only a set or group of permissible yaw rate measurements are analyzed. These may also be referred to as relevant yaw rate measurements. For a yaw rate measurement to be valid or relevant, it must fall within a predetermined range. This is checked by a threshold, in particular by checking that the value is below the threshold. This range or threshold can be a predetermined or configured value, in particular depending on the specific yaw rate sensor. However, it is not sufficient for the yaw rate measurement to fall within a range below the threshold. A yaw rate measurement may be below the threshold but may still be part of a pivoting or rotational movement of the turntable (especially when the turntable starts or stops pivoting) and therefore may not be valid for determining the yaw rate offset value. Therefore, according to the present invention, yaw rate measurements that form a gradient in the yaw rate measurement signal are identified and ignored or filtered to determine the yaw rate offset value. In particular, the yaw rate offset value can be determined if sufficient (filtered) values ​​are available or stored in memory.

[0025] In one embodiment, the method may include a step of checking associated yaw rate measurements of yaw rate measurement signals that are below a threshold. In particular, each yaw rate measurement may be individually checked to see if the yaw rate measurement is below a threshold. In this case, this yaw rate measurement may be classified or stored as an associated yaw rate measurement. Therefore, only possible valid or associated yaw rate measurements are considered to check the yaw rate offset value.

[0026] The method may include, inter alia, storing confirmed yaw rate measurements below a threshold in a memory, in particular a ring buffer (e.g., with a maximum buffer length of 20). The method may include, inter alia, checking whether a sufficient number of confirmed yaw rate measurements are stored in the memory (e.g., between 10 and 20 values, or exactly 20 or 10 values). Whether a sufficient number of confirmed yaw rate measurements are stored in the memory depends, inter alia, on the update rate of the yaw rate measurements or yaw rate measurement signals, or on the corresponding software routine or module for confirming the yaw rate offset values ​​or yaw rate values. For example, with an update rate of approximately 40 ms, 10 values ​​in the memory may be a sufficient number. For example, with an update rate of approximately 20 ms, 20 values ​​in the memory may be a sufficient number.

[0027] In one embodiment, the step of checking the yaw rate measurement signal for a gradient can be performed based on the checked associated yaw rate measurement being below a threshold. It is also possible to check whether there are enough yaw rate measurements available (e.g., in memory) to measure the gradient.

[0028] In one exemplary embodiment, the step of identifying yaw rate measurements that form a gradient in the yaw rate measurement signal can comprise forming a (simple) linear regression with or across yaw rate measurements, particularly yaw rate measurements in memory or the most recent yaw rate measurements in memory (e.g., the last three or four yaw rate measurements in memory). In particular, identified relevant yaw rate measurements that are below a threshold can be used for this purpose. The gradient of the line identified in this way can be checked (e.g., whether it is sufficiently steep), and in particular whether this gradient exceeds a gradient threshold (e.g., a gradient > 5%). It can then be checked which yaw rate measurements, particularly which yaw rate measurements in memory, belong to this gradient. These yaw rate measurements that belong to the gradient are then ignored. Other yaw rate measurements that do not belong to the gradient can then be used to identify the yaw rate offset value.

[0029] In one embodiment, ignoring the confirmed yaw rate measurements that form the gradient can include removing (or filtering) those values ​​that are below a threshold from the associated yaw rate measurements. Only the remaining yaw rate measurements can then be used to determine the yaw rate offset value. In other words, the yaw rate measurements that form the gradient are not used to confirm the yaw rate offset value.

[0030] In particular, the step of ignoring the confirmed yaw rate measurements that form the gradient can comprise removing values ​​from the memory. In particular, it can be checked whether a sufficient number of confirmed yaw rate measurements are stored in the memory (e.g., 10-20 values, or exactly 20 or 10 values). Thus, it is possible to check whether sufficient yaw rate measurements are present or remain in the memory for subsequently calculating the yaw rate offset value.

[0031] In particular, the yaw rate offset value can be confirmed by the remaining yaw rate measurements (in memory). In particular, the remaining yaw rate measurements can be the yaw rate measurements (in memory) resulting from the relevant yaw rate measurements after subtracting, ignoring, or removing the confirmed yaw rate measurements that form the gradient. The remaining yaw rate measurements can be, in particular, G ver =G rel -G St and G rel indicates the relevant yaw rate measurement (below the threshold), and G St indicates the yaw rate measurement that forms the gradient.

[0032] In one embodiment, the step of determining the yaw rate offset value may include determining an average value of the remaining yaw rate measurements. The average value may be calculated, in particular, as the quotient of the sum of the remaining yaw rate measurements and the number of remaining yaw rate measurements. This may be performed, in particular, based on the following formula: ω offset =SUM(G ver ) / N [3] where G ver =G rel -G St : Remaining yaw rate measurement N: Number of remaining yaw rate measurements

[0033] In one embodiment, the method comprises checking the validity of the confirmed yaw rate offset value. In one embodiment, the validity check can comprise checking whether the confirmed (elastic or absolute) yaw rate offset value is within a specified range. The range can be, in particular, about (plus / minus) 0.6° / s or less, in particular about (plus / minus) 0.3° / s. For example, a typical (absolute) yaw rate offset value can be within a specified range of 0.2-0.3° / s.

[0034] Another aspect of the invention relates to a control device for ascertaining a yaw rate offset value, the control device being designed to perform a method for ascertaining a yaw rate offset value according to one of the aspects or embodiments herein.A further aspect of the invention relates to a control device for ascertaining a yaw rate value, the control device being designed to perform a method for ascertaining a yaw rate value (or yaw rate) according to one of the aspects or embodiments herein.

[0035] Another aspect of the invention relates to a sensor device for a motor vehicle, comprising at least one yaw rate sensor, in particular a gyroscope, and comprising a control device according to one of the aspects or embodiments herein.

[0036] The control device and / or sensor device may be in the form of or part of a driver assistance system, in particular for assisting a driver of the automated vehicle and / or for semi-autonomous or fully autonomous operation of the automated vehicle. The control device and / or sensor device (or driver assistance system) may be designed to, among other things, locate the automated vehicle, determine the orientation of the automated vehicle, and / or estimate the self-movement of the automated vehicle. The control device and / or sensor device (or driver assistance system) may be designed to operate at higher speeds, for example, for semi-autonomous or fully autonomous operation of the automated vehicle. Alternatively or cumulatively, the control device and / or sensor device (or driver assistance system) may also be designed to operate at lower speeds, for example, for parking and / or maneuvering.

[0037] A further aspect relates to a computer program product having program code means stored on a computer readable medium for performing a method according to an aspect or embodiment of the present specification, the computer program product performing the method when the computer program product is executed on a processor of an electronic control unit, in particular the computer program product may be implemented on and processed therein.

[0038] A further aspect relates to an automotive vehicle having a sensor device according to an aspect or embodiment herein. The automotive vehicle may be in the form of an automobile or a commercial vehicle.

[0039] Advantageous embodiments of the method are to be considered as advantageous embodiments of the control device, the sensor device, the computer program product and the motor vehicle, to which end the control device, the sensor device, the computer program product and the motor vehicle have particular features that enable the method and its advantageous embodiments to be carried out.

[0040] Further features of the present invention can be gleaned from the claims, figures, and figure descriptions. Features and combinations of features recited in the above description, as well as features and combinations of features recited in the following figure descriptions and / or shown only in the figures, can be used not only in the respective combinations shown, but also in other combinations or alone without departing from the scope of the present invention. Therefore, such embodiments of the present invention should also be considered as constructed and disclosed as they emerge from and can be generated from the described embodiments by separate feature combinations, not explicitly shown or described in the figures. Therefore, embodiments and feature combinations that do not have all the features of the originally formulated independent claims should also be considered disclosed. Furthermore, feature designs and combinations beyond or different from the feature combinations recited in the cross-references of the claims, particularly those described above, should also be considered disclosed.

[0041] Exemplary embodiments of the invention are explained in more detail below on the basis of schematic drawings. [Brief explanation of the drawings]

[0042] [Figure 1] 1 is a schematic plan view of an exemplary embodiment of a motor vehicle having an embodiment of a sensor device; [Figure 2]A schematic diagram of the turntable in front of the garage. [Figure 3a] FIG. 1 is a diagram of an exemplary turntable speed signal over time. [Figure 3b] 3b is a diagram of an exemplary yaw rate measurement signal corresponding to the exemplary turntable velocity of FIG. 3a. [Figure 4] FIG. 2 is a schematic flow diagram of an exemplary embodiment of a method for ascertaining a yaw rate offset value. [Figure 5] FIG. 10 is a schematic flow diagram of another exemplary embodiment of a method for ascertaining a yaw rate offset value or a yaw rate value. [Figure 6] FIG. 4 is a diagram of another exemplary yaw rate measurement signal. [Figure 7] FIG. 10 is a diagram of an exemplary yaw rate measurement signal of a further exemplary embodiment. [Figure 8] 4 is a diagram of an actually measured yaw rate measurement signal of a further exemplary embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0043] The same reference numbers are given in the figures to identify elements that are identical and have the same function.

[0044] FIG. 1 shows a schematic plan view of an exemplary embodiment of an automated vehicle 1 having an embodiment of a sensing device 2. The automated vehicle 1 is designed in an exemplary embodiment of the present invention as a passenger car. The automated vehicle 1 includes, for example, a sensor device 2 in the form of or as part of a driver assistance system. The sensor device 2 or the driver assistance system is designed specifically to assist the driver of the automated vehicle 1. Furthermore, the sensor device 2 or the driver assistance system may also be designed for semi-autonomous or fully autonomous operation of the automated vehicle 1. In particular, the sensor device 2 or the driver assistance system may then control corresponding components of the automated vehicle 1 such that partially autonomous or fully autonomous operation can be performed by the controller of the sensor device 2 or the driver assistance system. The sensor device 2 or the driver assistance system may be designed to operate at higher speeds, for example, for semi-autonomous or fully autonomous operation of the automated vehicle 1. Alternatively or cumulatively, the sensor device 2 and / or the driver assistance system may also be designed to operate at lower speeds, for example, for parking and / or maneuvering.

[0045] The sensor arrangement 2 comprises a yaw rate sensor 4, in particular a gyroscope, and a control device 3. The control device 3 is designed to carry out the method described below to ascertain the yaw rate offset value or yaw rate value. The yaw rate sensor 4 is connected to the control device 3 via a line 9 (for example a vehicle bus). The control device 3 receives a yaw rate measurement signal S from the yaw rate sensor 2 via the line 9. ω Alternatively, multiple yaw rate measurement signals S of the yaw rate sensor 4 can be received. ω is transmitted to the control device 3 via line 9. The transmission via line 9 can be wireless and / or wired.

[0046] The control device 3 in this exemplary embodiment is further coupled to wheel sensors 8 that are attached to the wheels of the motor vehicle 1 and provide so-called wheel pulses that characterize the rotation of the wheels. Multiple pulses can be generated per rotation. In this exemplary embodiment, the wheel sensors 8 are also connected to the control device 3 via lines 9 (e.g., a vehicle bus). Alternatively, they can be connected via different lines. The control device 3 in FIG. 1 can also receive wheel pulses via lines 9. Thus, the wheel pulses of the wheel sensors 8 are transmitted to the control device 3 via lines 9.

[0047] In this exemplary embodiment shown in Figure 1, the control device 3 is further coupled to a steering and / or drive device 7. Here, the control device 3 is connected to the steering and / or drive device 7 via line 5. The control device 3 can send control signals to the steering and / or drive device 7 via line 5, for example to control the steering angle and / or longitudinal guidance of the motor vehicle 1 by means of the steering device and / or to automatically accelerate and / or decelerate the motor vehicle 1 by means of the drive device.

[0048] 1, the control device 3 further receives sensor data from an environmental sensor 10. The environmental sensor 10 may be designed, for example, as an ultrasonic sensor and / or a radar sensor and / or an optical distance sensor and / or a camera, for detecting objects and / or obstacles in the surroundings of the motor vehicle 10.

[0049] The sensor device 2 may also include further sensors such as a longitudinal acceleration sensor (not shown) for detecting the longitudinal acceleration of the motor vehicle 1 .

[0050] Furthermore, the control device 3 has a computer program product having program code means stored on a computer readable medium for executing the below-described method for ascertaining the yaw rate offset value or the yaw rate value, in particular the computer program product being implemented on and processed by the processor of the electronic control unit 3.

[0051] The sensor device 2 and / or the driver assistance system require a reliable yaw rate as an input variable for calculations performed in the control device 3, for example for localizing the motor vehicle 1, determining the orientation of the motor vehicle 1, and / or estimating the self-motion of the motor vehicle 1. It is therefore important, especially in the control device 3, to have a reliable method for ascertaining the yaw rate or yaw rate value (as an input variable for subsequent calculations in the control device 3). Conventional methods for ascertaining the yaw rate ω involve determining the actual yaw rate value ω of the yaw rate sensor 4. real (or the most recent or current actual measured yaw rate value) is the confirmed yaw rate offset value ω offset is adjusted by

[0052] It has been found that a problem occurs when, at the time the yaw rate offset value is ascertained, the motor vehicle 1 is stationary but rotating about its own axis, i.e., the vertical vehicle axis (thus in FIG. 1 the axis is either out of the plane of the drawing or perpendicular to the plane of the drawing). In this case, the yaw rate is greater than 0° / s. This scenario may occur, for example, when the motor vehicle 1 is on a turntable. This problem is ameliorated by the method for ascertaining the yaw rate offset value described below.

[0053] As an illustrative example of such a situation, FIG. 2 shows a schematic diagram of a turntable D in front of a garage G. The turntable D here is a vehicle turntable or driveway turntable in front of the garage G. The turntable D is implemented as a rotatable (or pivoting) disk or plate designed to allow the motor vehicle 1, e.g., from the exemplary embodiment of FIG. 1, to pivot, in particular about its own axis or a vertical axis. The turntable D here is a circular disk or plate that allows the motor vehicle 1 to pivot about its own axis or a vertical axis. Thus, the turntable D rotates about its axis when the motor vehicle 1 is stationary thereon. Here, the turntable D is mounted or recessed into the ground B. Thus, in this exemplary embodiment, the turntable is placed in front of the garage G or on the driveway, or is mounted or recessed into the ground B of the driveway. The turntable D can be rotated or pivoted manually or by motorized means. The purpose or benefit of the turntable D is typically simplified and / or safer exit or maneuvering of the motor vehicle 1 from the driveway or garage. 2, the turntable D may be located on a driveway of a house, i.e., on private property, or in a public parking lot, i.e., in a public space. Such a turntable D may be used particularly when there is little maneuvering space or in spatially limited conditions. Thus, the turntable D allows the motor vehicle 1 to turn with the minimum necessary maneuvering space.

[0054] FIG. 3a shows an exemplary turntable speed signal S versus time t. v Assume that a motor vehicle 1 is positioned on a turntable D. The velocity of the turntable D is v D is shown on the y-axis, and time t is shown on the x-axis. During the period from time t0 to t1, the turntable is stationary, i.e., the turntable velocity v D is 0. During the period from time t1 to time t2, the turntable speed v Dincreases linearly or at a constant rate, i.e., the turntable D begins to rotate or accelerate around its own axis. Similarly, the vehicle 1 on the turntable D is then accelerated around the vehicle vertical axis. During the period t2 to t3, the turntable D rotates at a constant turntable velocity v konst During the period from time t3 to t4, the turntable speed is v D decreases linearly or at a constant rate, i.e., the turntable D stops or slows down its rotation. Similarly, the vehicle 1 on the turntable D then slows down its movement about the vehicle's vertical axis. After time t4 (until the end time of measurement period t5), the turntable D, and therefore the vehicle 1 located on it, comes to rest again.

[0055] 3b shows an exemplary yaw rate measurement signal S of the yaw rate sensor 4 of the sensor device 2 of the motor vehicle 1. ω 3b shows the corresponding diagram of the exemplary yaw rate measurement signal S ω is the example turntable velocity v in FIG. 3a D The yaw rate measurement signal S ω is also plotted against time t. The yaw rate or yaw rate measurement ω is shown on the y-axis in degrees / s and time t is shown on the x-axis. Multiple yaw rate measurements ω received or obtained from yaw rate sensor 2 over time t 1、…、 ω x is the yaw rate measurement signal S ω During the time period t0 to t1, the turntable, and therefore the vehicle 1, is stationary. Therefore, the yaw rate value measured here is the yaw rate offset value ω offset This corresponds approximately to the offset of the yaw rate measured by the yaw rate sensor 4 of the motor vehicle 1. In the period from time t1 to t2, the turntable velocity v Dincreases linearly or at a constant rate, i.e., the turntable D begins to rotate or accelerate around its own axis. Similarly, the vehicle 1 on the turntable D is then accelerated around the vehicle vertical axis. Therefore, in the period from time t1 to t2, the yaw rate measurements also increase in value, i.e., form a positive gradient. In the period from t2 to t3, the turntable D, and therefore the vehicle 1, rotates at a constant turntable speed. Also, in the period from t2 to t3, the yaw rate measurements also maintain a nearly constant value ω konst However, the yaw rate offset value ω of the yaw rate sensor 4 offset During the period from time t3 to t4, the turntable speed v D decreases linearly or at a constant rate, i.e., the turntable D stops or slows down its rotation. Similarly, the vehicle 1 on the turntable D then slows down its movement around the vehicle's vertical axis. Therefore, in the period from time t3 to t4, the yaw rate measurement also decreases in value, i.e., forms a negative gradient. After time t4 (until the end of measurement period t5), the turntable D, and therefore the vehicle 1 located on it, comes to a standstill again. The yaw rate measurement is now calculated as the yaw rate offset value ω offset A conventional method for ascertaining the yaw rate offset value is to, for example, average the yaw rate measurement signal S ω By checking the overall average value, the yaw rate measurement signal S in Figure 3b ω If applied globally, this would result in an incorrect yaw rate offset value. This is because the yaw rate measurements for the time period t1 to t4 do not constitute a yaw rate offset, but are the actual measured yaw rate values. Therefore, they should not be used when checking the yaw rate offset value. The yaw rate offset value ω offset A corresponding reliable method for verifying is described below.

[0056] FIG. 4 shows a yaw rate offset value ω 1 representing the offset of the yaw rate measurement value of the yaw rate sensor 4 of the motor vehicle 1. offset1 shows a schematic flow diagram of an exemplary embodiment of a method for ascertaining a plurality of yaw rate measurements ω from a yaw rate sensor 2 over a time t. 1、…、 ω x The method comprises a first step 100 of receiving a yaw rate measurement signal S ω The first step 100 is then followed by a step 200 of checking whether the motor vehicle 1 is stationary. The check in step 100 is performed to determine whether the speed v Ego is equal to or approximately equal to 0. Alternatively or cumulatively, this may comprise checking whether wheel pulses of the motor vehicle 1, e.g. wheel sensors 8, are equal to or approximately equal to 0.

[0057] 4, if it is determined that the motor vehicle 1 is not stationary (branch N for "No" in FIG. 4), the method for determining the yaw rate offset value ends at this point. However, it is also possible to use a method for determining the yaw rate offset value for linear motion, for example.

[0058] Now, if it is determined in step 200 in FIG. 4 that the motor vehicle 1 is stationary (branch Y for "Yes" in FIG. 4), the method continues and the yaw rate measurement signal S ω based on the yaw rate offset value ω offset However, before or during step 500 of checking the yaw rate offset value, the following steps must be performed: offset First, for or during step 500, the yaw rate measurement signal S ω The yaw rate measurement G forms a gradient St at st and secondly, a step 300 of checking the checked yaw rate measurement G forming the gradient St. st This ignoring step 400 is performed by ignoring the yaw rate measurement G stTherefore, these values ​​G st is the yaw rate offset value ω offset are not used to determine or estimate

[0059] Yaw rate measurement signal S ω The yaw rate measurement G forms a gradient St at st By checking step 500, it is therefore possible to detect in a pseudo manner whether the motor vehicle 1 is located on the rotating turntable D. If the yaw rate measurements form or have a gradient St, it can be concluded that the motor vehicle 1 is on the rotating turntable at that moment (while the motor vehicle 1 is stationary). st are not components of the yaw rate offset, but are the actual measured yaw rate values, and therefore should be ignored or removed when checking the yaw rate offset values.

[0060] Yaw rate measurement signal S ω The yaw rate measurement G forms a gradient St at st Therefore, it is possible to detect whether the motor vehicle 1 is stationary but positioned on the turntable D by checking 400 whether the yaw rate offset value ω offset To confirm the slope St, the confirmed yaw rate measurement G st Step 500 is performed to ignore or remove the yaw rate offset value ω offset In step 500, the yaw rate measurement signal S ω The remaining yaw rate measurement G ver Only the yaw rate offset value ω is used, and the motor vehicle 1 is stationary and not rotating. offset This results in a more accurate determination or estimation of

[0061] The schematic flow diagram of the exemplary embodiment of Figure 4 shows a further optional (represented by a dashed line) step 600 of verifying the yaw rate value. The verifying step in step 600 is performed by determining whether the yaw rate measurement signal S ω , or the yaw rate measurement and yaw rate offset value ω determined in step 500 offset Therefore, the yaw rate offset value ω offset A method for ascertaining a yaw rate value ω is also optionally presented here, comprising the aforementioned steps of a method for ascertaining a yaw rate value or yaw rate. The step 600 for ascertaining a yaw rate value or yaw rate is performed by determining a yaw rate measurement signal S ω (or yaw rate measurements over time) and the confirmed yaw rate offset value ω offset In particular, this is based on the ascertained yaw rate offset value ω offset The actual yaw rate measurement value ω of the yaw rate sensor 4 is real (or the most recent or currently actually measured yaw rate value). In other words, the actual yaw rate measurement value ω of the yaw rate sensor 4 real (or the most recent or currently actually measured yaw rate value) to the confirmed yaw rate offset value ω offset can be subtracted or subtracted.

[0062] 5 shows a schematic flow diagram of a further exemplary embodiment of a method for ascertaining a yaw rate offset value or a yaw rate value, which is based on the exemplary embodiment described in FIG. 4. In addition, the method here includes one or more of steps 210, 220, 230, and 410 and 510. Then, if it is determined in step 200 in FIG. 5 that the motor vehicle 1 is stationary (branch Y for "Yes" in step 200 in FIG. 5), the method proceeds to step 210, where the yaw rate measurement signal S ω (or multiple yaw rate measurements ω 1、…、 ω x ) as the threshold ω th In particular, each yaw rate measurement ω 1、…、 ω x is the threshold ωth The threshold ω th may in particular have a value of about or at most 3° / s, in particular about or at most 2.5° / s, in particular about 1° / s. th is the constant yaw rate measurement ω konst The threshold ω can or should be less than th can in particular be a predetermined or configured value, in particular depending on the respective yaw rate sensor 4.

[0063] Step 210 specifically determines the threshold ω th The yaw rate measurement signal S is below ω The associated yaw rate measurement G rel In particular, the step of checking each yaw rate measurement ω 1、…、 ω x , the yaw rate measurement value is within the threshold ω th In particular, it can be checked whether the relevant yaw rate measurement G rel (threshold ω th (less than) forms or has a slope St, i.e., the yaw rate measurement G when the turntable starts or stops rotating St It can be equipped with:

[0064] Referring to FIG. 6, a further exemplary yaw rate measurement signal S ω 3b. In addition, the threshold ω th and gradient St are shown. Also, a set of confirmed yaw rate measurements G st , and threshold ω th The yaw rate measurement signal S is below ω or a set of related yaw rate measurements G rel In the time period t1 to t2, when the turntable D starts to rotate, a set of (increasing) yaw rate measurements G form a positive gradient St. StIn the period from time t3 to t4, when the turntable D stops rotating, a set of (decreasing) yaw rate measurements G that form a negative gradient St St The threshold ω th The yaw rate measurement signal S is below ω A set of related yaw rate measurements G rel is also shown. This set of related yaw rate measurements G rel is the period t2 to t3 during which the turntable D rotates at a constant turntable speed, that is, the yaw rate measurement value is greater than the threshold value ω th and the yaw rate offset value ω of the yaw rate sensor 4 offset A nearly constant value ω konst Therefore, the remaining set of yaw rate measurements G ver is a set of confirmed yaw rate measurements G that form a gradient St. St a set of related yaw rate measurements G after subtracting, ignoring, or removing rel Therefore, the remaining yaw rate measurements or the set G ver is especially G ver =G rel -G St and G rel indicates the relevant yaw rate measurement (below the threshold), and G St denotes the yaw rate measurement that forms the slope St.

[0065] Returning now to FIG. 5, in step 210, the yaw rate measurement signal S ω Throat related yaw rate measurement G rel is the threshold ω th If it is determined that the yaw rate is below the relevant yaw rate measurement G relThe process proceeds to step 220, where these confirmed yaw rate measurements are stored as yaw rate offsets G. For example, the memory can be implemented as a ring buffer (e.g., with a maximum buffer length of 20). The memory is in particular part of the control device 3 or is directly connected to the control device 3. The process proceeds to step 230, where the confirmed yaw rate measurements G are stored as yaw rate offsets G. rel Only the set of valid or relevant yaw rate measurements G rel However, if a set of yaw rate measurements exceeds a threshold ω th It is not enough to just be below the yaw rate measurement ω 1、…、 ω x is the threshold ω th , but may be part of a pivoting or rotational movement of the turntable D, especially when the turntable D starts or stops rotating, and therefore the yaw rate offset value ω offset Therefore, as already explained in step 300, the yaw rate measurement signal S ω A set of yaw rate measurements G that form a gradient St on St Next, in step 400, the yaw rate offset value ω offset , this set of yaw rate measurements G forming a gradient St St is ignored or filtered. The yaw rate measurement signal G forms a gradient St in the yaw rate measurement signal. St The step 300 of checking whether a threshold ω th A confirmed relevant yaw rate measurement G below rel Then, the determined yaw rate measurement G, which forms the gradient St, is calculated. St The subsequent step 400 ignores these values ​​and uses them as the associated yaw rate measurement G rel Then, the remaining yaw rate measurements G Ver Only the yaw rate offset value ω is used in step 500. th can be confirmed.

[0066] However, as can be seen in the exemplary embodiment of FIG. 5, before steps 300 and 400, i.e., after step 220, a sufficient number of relevant confirmed yaw rate measurements G rel Step 230 is also performed to check whether there are stored in memory (e.g., 10 to 20 values, or exactly 20 or 10 values). Thus, it is checked whether there are enough relevant yaw rate measurements available in memory to perform a determination of the slope St. After step 220, step 300 and then step 400 are performed, as described above.

[0067] The yaw rate measurement signal G forms a gradient St in the yaw rate measurement signal. St In particular, in step 300, the ascertained relevant yaw rate measurement G rel , e.g., the last few yaw rate measurements G in memory rel (e.g., the last three or four yaw rate measurements in memory G rel ) can be used to form a (simple) linear regression. It can then be checked whether the slope St of the line thus determined is sufficiently steep, for example whether this slope exceeds a slope threshold (for example, slope > 5%). Next, it is possible to determine which yaw rate measurement G (in memory) rel belong to this gradient. Then, these are the yaw rate measurements G St Next, these yaw rate measurements G St are ignored in step 400. Then, the other (remaining) yaw rate measurements G that do not belong to the slope St are Ver In step 500, the yaw rate offset value ω is calculated using th can be confirmed.

[0068] 5, after step 400, step 410 is performed to check whether a sufficient number of verified and filtered yaw rate measurements have been stored in memory (e.g., 10-20 values, or exactly 20 or 10 values). Only then is the yaw rate offset value ω offset Therefore, in step 410, the yaw rate offset value ω offset It is possible to check whether enough yaw rate measurements have been stored or remain in memory to calculate yaw rate.

[0069] Next, in step 500, the yaw rate offset value ω offset However, the yaw rate measurement value G remains in the memory. Ver In particular, these remaining yaw rate measurements G Ver is the measured yaw rate G St the relevant yaw rate measurement G after subtracting, ignoring, or removing rel where the yaw rate offset value ω offset The step of checking the remaining yaw rate measurement G Ver The mean value may be determined in particular by determining the mean value of the remaining yaw rate measurements G Ver The sum and remaining yaw rate measurements of G Ver and the number N. According to step 500, a step 600 of checking the yaw rate value can also be performed, as explained in relation to FIG.

[0070] However, as can be seen in the exemplary embodiment of FIG. 5, after step 500, the yaw rate offset value ω offset A further step 510 is performed to check the validity of |ω|. The validity check is carried out in particular by checking the elastic modulus or absolute yaw rate offset value |ω|. offsetThe method may further comprise a step of checking whether | is within a specified range B. The specified range B may be in particular within the range of 0.2 to 0.3° / s.

[0071] FIG. 7 illustrates an exemplary yaw rate measurement signal S of a further exemplary embodiment. ω 5 shows a diagram of the arithmetic operation of the arithmetic unit 100 shown in FIG. 5, which is substantially based on the exemplary embodiment described in FIG. 6. In addition, a range B used in the validity check step 510 is now identified. Range B here is shown located between the zero line and the maximum value. However, range B in particular comprises a range of plus / minus a specified value, for example plus / minus 0.3° / s, i.e. a total of 0.6° / s.

[0072] FIG. 8 shows an actually measured yaw rate measurement signal S ω The figure shows the stop signal S at the top of Figure 8. standstill is recorded against time. Initially, the vehicle is moving, i.e., the vehicle speed v Ego is not 0, therefore the stop signal S standstill initially has a value of 0 (i.e., it is not stationary). However, after a certain time, the stop signal S standstill has a value of 1 or jumps to a value of 1, i.e., the vehicle is stopped at that time or the vehicle speed v Ego is 0. The bottom of Figure 8 shows the actual measured yaw rate signal S ω , i.e., the measured yaw rate measurements over time t are plotted. Using the methods described herein, the yaw rate offset value ω offset is also accurately confirmed in a situation with a rotating turntable, as can be seen in FIG.

Claims

1. A yaw rate offset value (ω) representing the offset of the yaw rate measurement value of the yaw rate sensor (4) of the automobile (1) ｏｆｆｓｅｔ 1. A method for determining a A plurality of yaw rate measurements (ω) from the yaw rate sensor (2) over time (t) １、…、 ω ｘ ) and the yaw rate measurement signal (S ω ) and receiving (100) a representation of A step (200) of checking whether the vehicle (1) is stationary; When the vehicle (1) is stationary, the yaw rate measurement signal (S ω ) and the yaw rate measurement (G ｓｔ ) (300); The yaw rate measurement signal (S ω ) to obtain the yaw rate measurement value (G ｓｔ ) (400), and The yaw rate measurement (G ｓｔ ) is ignored. ω ) based on the yaw rate offset value (ω ｏｆｆｓｅｔ ) (500); The determined yaw rate offset value (ω ｏｆｆｓｅｔ and checking (510) the validity of the

2. The step (100) of checking whether the vehicle is stationary involves determining the speed (v) of the vehicle (1). Ｅｇｏ 2. The method of claim 1, further comprising the step of checking whether the wheel pulses of the motor vehicle (1) are equal to or approximately equal to 0 and / or whether the wheel pulses of the motor vehicle (1) are equal to or approximately equal to 0.

3. The yaw rate measurement signal (S ω ) to the threshold (ω ｔｈ 3. The method according to claim 1, further comprising a step (210) of comparing the signal with the signal.

4. The threshold (ω ｔｈ 4. The method of claim 3, wherein the θ has a value of about or at most 3° / s.

5. The threshold (ω ｔｈ ) the yaw rate measurement signal (S ω ) associated yaw rate measurements (G ｒｅｌ 5. The method of claim 3, further comprising determining (220) the

6. The yaw rate measurement signal (G ｓｔ The step (300) of determining the threshold (ω ｔｈ ) the determined relevant yaw rate measurement (G ｒｅｌ 6. The method of claim 5, wherein the method is performed based on

7. The yaw rate measurement (G ｓｔ The step (400) of ignoring the threshold (ω ｔｈ ) are used as the relevant yaw rate measurements (G ｒｅｌ 7. The method of claim 6, further comprising the step of removing the

8. The yaw rate offset value (ω ｏｆｆｓｅｔ 8. The method according to claim 1, wherein the step (500) of determining (a) comprises the step of ascertaining the average value of the yaw rate measurements that have not been ignored.

9. The step of checking validity (510) is performed by checking the determined yaw rate offset value (ω ｏｆｆｓｅｔ 9. The method according to claim 1, further comprising the step of checking whether the value of the parameter .DELTA..times ...

10. 1. A method for determining a yaw rate value, comprising: The steps of a method for determining a yaw rate offset value (ω offset ) according to any one of claims 1 to 9; The yaw rate measurement signal (S ω ) and the determined yaw rate offset value (ω ｏｆｆｓｅｔ and determining (600) a yaw rate value based on the

11. Yaw rate offset value (ω ｏｆｆｓｅｔ 11. A control device (3) for determining a yaw rate value (ω) and / or a yaw rate value (ω), the control device (3) being designed to implement a method according to any one of claims 1 to 10.

12. At least one yaw rate sensor (4); A sensor device (2) for a motor vehicle (1), comprising a control device (3) according to claim 11.

13. A computer program product having recorded thereon a program code for causing a processor of an electronic control unit (3) to execute the steps of the method according to any one of claims 1 to 10.

14. A motor vehicle (1) comprising a sensor device (2) according to claim 12.

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