Yaw Rate Sensor Error Correction for Vehicle Path Prediction
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Solution Overview
Problem
Yaw rate sensors in vehicles are prone to errors, which can lead to incorrect determination of the vehicle's projected path, potentially triggering unnecessary emergency braking or failing to prevent collisions, due to susceptibility to temperature changes, electromagnetic interference, and variations in sensor quality.
Innovation Solution
A method and system that corrects yaw rate errors by using a yaw rate offset, updated when the vehicle is stationary or moving straight, utilizing a combination of sensors such as cameras, accelerometers, and speed sensors to determine the vehicle's condition and adjust the yaw rate offset based on confidence levels, thereby improving the accuracy of yaw rate measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If yaw rate sensor is used to determine vehicle path, then collision avoidance and stability control systems can function, but measurement accuracy deteriorates due to temperature changes, electromagnetic interference, and sensor quality variations
Solution Approach 1:
The patent introduces an intermediary system that combines multiple sensors (accelerometers, gyroscopes, speed sensors) and uses image processing of road features as a mediator to cross-validate and correct yaw rate measurements, thereby improving measurement precision while maintaining system reliability
Solution Approach 2:
The system dynamically adjusts measurement parameters by selecting different sensor combinations and weighting factors based on operating conditions (temperature, vehicle speed, road conditions), allowing optimal measurement precision across varying environmental conditions while maintaining overall system reliability
2Measurement precision
If multiple sensors and image processing are used to correct yaw rate errors, then measurement precision improves, but device complexity increases
Solution Approach 1:
The control system performs multiple functions using the same sensor data: it processes yaw rate measurements, analyzes road images, monitors vehicle speed, and adjusts correction parameters dynamically. This multi-functionality reduces the need for additional dedicated components, improving measurement precision without proportionally increasing device complexity
Solution Approach 2:
The patent merges the functions of multiple sensors and processing algorithms into an integrated control system that simultaneously performs yaw rate measurement, error detection, image processing, and correction. This consolidation improves measurement precision while managing device complexity through unified architecture
3Measurement precision
If yaw rate offset is updated continuously, then measurement precision improves, but processing time and computational load increase
Solution Approach 1:
The system updates the yaw rate offset periodically based on detected suitable conditions (when vehicle is stationary or moving straight) rather than continuously. This periodic update approach maintains measurement precision while reducing computational load and processing time by updating only when necessary
Data Source
AI summary
A method for vehicular control includes providing a forward viewing camera, a yaw rate sensor, a longitudinal accelerometer, a speed sensor and a control system at the vehicle. While the vehicle is moving, an angular rotational velocity of the vehicle about a local vertical axis is determined, a yaw rate offset is determined, and a longitudinal acceleration is determined. A corrected yaw rate is determined responsive to the determined yaw rate offset of the yaw rate sensor and the determined longitudinal acceleration of the vehicle. The control system determines a projected driving path of the vehicle based at least in part on the determined corrected yaw rate. A hazard condition ahead of the vehicle in the projected driving path is determined at least in part responsive to detecting an object and to the projected driving path. The system automatically applies the brakes of the vehicle responsive to the determined hazard condition.