CN110217239B - Method and equipment for measuring yaw rate of vehicle - Google Patents

Method and equipment for measuring yaw rate of vehicle Download PDF

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Publication number
CN110217239B
CN110217239B CN201910420450.9A CN201910420450A CN110217239B CN 110217239 B CN110217239 B CN 110217239B CN 201910420450 A CN201910420450 A CN 201910420450A CN 110217239 B CN110217239 B CN 110217239B
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yaw rate
vehicle
speed
information
wheel
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CN110217239A (en
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孙道远
曹润滋
孟昭亮
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Freetech Intelligent Systems Co Ltd
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Freetech Intelligent Systems Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

A method of calculating a yaw rate of a vehicle. The method mainly comprises the steps of obtaining steering wheel angle information and vehicle speed information, and calculating yaw rate by combining a two-degree-of-freedom vehicle model to obtain a first yaw rate; acquiring non-driving wheel speed information and steering wheel corner information, and calculating to obtain a second yaw rate; setting a longitudinal vehicle speed threshold; and selecting different yaw rates according to the comparison result of the vehicle speed information and the threshold value. The third yaw rate is obtained from the linear difference between the first yaw rate and the second yaw rate. The different yaw rates are selected as the yaw rate output rates by the arbitration unit in accordance with the longitudinal speed of the vehicle. Aiming at the problem of low yaw angle measurement precision in the prior art, the invention measures the yaw angle speed through the two-degree-of-freedom vehicle model and the arbitration unit and selects different yaw angle speeds as input information parameters of the vehicle control system. Thereby improving the safety performance and control accuracy of the vehicle.

Description

Method and equipment for measuring yaw rate of vehicle
Technical field:
the invention relates to the field of intelligent control, in particular to a method and a system for measuring the yaw rate of a vehicle.
The background technology is as follows:
the yaw rate of the vehicle is an important information parameter of the ADAS technology, and is used to predict the track of the vehicle in the technologies such as AEB, FCW, LDW and the like. The gradually matured ADAS technology becomes an effective way for improving safety. Existing vehicle yaw rate measurements rely primarily on inertial sensors such as gyroscopes, which are complex and costly to measure, and this costly approach prevents large-scale ADAS deployment. To reduce operating vehicle costs, yaw rate is estimated using existing vehicle dynamics sensors, such as wheel speed sensors, and an appropriate vehicle dynamics model.
There are certain drawbacks to using wheel speed sensors to calculate yaw rate. Under the low-speed working condition, the wheel speed error is larger, so that the accuracy of the vehicle yaw rate estimated by using the non-driving wheel speed difference is lower. Experimental data show that the error between the wheel speed measured by the wheel speed sensor under the low-speed working condition and the actual wheel speed is larger, and the yaw rate cannot be accurately estimated.
The invention comprises the following steps:
the present invention aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, a first object of the present invention is to provide a vehicle yaw rate measurement method, which provides a vehicle yaw rate measurement method based on the prior art, and the vehicle yaw rate measurement method enables the vehicle to better obtain the yaw rate of the vehicle under both high-speed working conditions and low-speed working conditions, and improves the calculation accuracy of the yaw rate.
A second object of the present invention is to provide a device for measuring yaw rate of a commercial vehicle.
The three objects of the invention are to propose a motor vehicle equipped with such a device.
It is a fourth object of the invention to propose a non-transitory computer readable storage medium.
In order to achieve the above object, an embodiment of the present invention provides a method for measuring a yaw rate of a vehicle, including the steps of:
the steering wheel angle information and the vehicle speed information are obtained through the sensors, the specific steering wheel angle sensor obtains the steering wheel angle, and then the steering wheel angle sensor divides the steering wheel angle by the vehicle steering transmission ratio to obtain the parameter. The vehicle speed information is estimated by a longitudinal vehicle speed estimating unit.
Calculating a yaw rate by combining the two-degree-of-freedom vehicle model to obtain a first yaw rate;
specifically, a two-degree-of-freedom automobile motion differential equation is combined, and the yaw rate is a constant value in steady state response, at the momentThe yaw rate estimation model can be obtained by substituting the two-degree-of-freedom automobile motion differential equation and then simultaneously eliminating beta.
And acquiring non-driving wheel speed information and steering wheel corner information, and calculating to obtain a second yaw rate.
Concretely, non-driving wheel speed information is obtained through a wheel speed sensor, steering wheel angle is obtained through a steering wheel angle sensor, and then the parameter delta-front wheel angle is obtained by dividing the steering transmission ratio of the vehicle.
Setting a longitudinal vehicle speed threshold;
the specific vehicle needs to be tested at different vehicle speeds, meanwhile, the yaw rate is estimated by adopting two methods, and compared with the yaw rate acquired by other equipment (such as inertial navigation), the estimation method with higher precision is selected, so that the speed threshold is determined.
The longitudinal vehicle speed threshold value can be two, namely a first threshold value and a second threshold value; according to the longitudinal vehicle speed information, if the longitudinal vehicle speed information is smaller than a first threshold value of the longitudinal vehicle speed, selecting a first yaw rate; and if the speed is larger than the first threshold value of the longitudinal vehicle speed, selecting a second threshold value. And selecting a third yaw rate if the vehicle speed is between the first threshold and the second threshold.
The specific third yaw rate is obtained from the linear difference calculated from the first yaw rate and the second yaw rate.
In another embodiment of the invention, a steering wheel angle sensor is provided, steering wheel angle information is acquired by the steering wheel angle sensor, and the steering wheel angle information is transmitted to an information processing unit.
Further, a wheel speed sensor is arranged, the wheel speed is obtained by the wheel speed sensor, the wheel speed information is transmitted into an information processing unit, and the wheel speed information is calculated by the wheel speed information.
Further, the yaw rate is calculated by combining the two-degree-of-freedom vehicle model, so as to obtain a first yaw rate, and the longitudinal vehicle speed information value and the steering wheel angle information value are brought into a two-degree-of-freedom vehicle model calculation formula, so as to obtain a yaw rate value.
To achieve the above object, non-driving wheel speed information is acquired by a wheel speed sensor; the steering wheel angle information is obtained by a steering wheel angle sensor and is transmitted to an information processing unit.
Further, the yaw rate is obtained from the non-driving wheel speed difference.
In another embodiment of the present invention, a control apparatus is provided, the apparatus including a processor configured to process vehicle information acquired by a sensor, calculate the vehicle information to obtain a yaw rate, and select an optimal yaw rate according to a set threshold; a memory configured to store data information acquired by the sensor and information results processed by the processor; a computer program on the memory and executable on the processor; a method of determining a yaw rate of a vehicle. The device may be disposed on a vehicle having a driver assistance system ADAS; the ADAS includes the memory and the memory.
To achieve the above object, a fourth aspect embodiment of the present invention proposes a non-transitory computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing a method of vehicle yaw rate as the first aspect embodiment of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Description of the drawings:
FIG. 1 is a block diagram of an information processing flow in an embodiment of the invention;
fig. 2 is a flowchart of yaw rate determination in the embodiment of the present invention;
FIG. 3 is a flow chart of yaw rate estimation in an embodiment of the present invention;
fig. 4 is a graph of a yaw-rate calculation model in the embodiment of the invention.
In fig. 4: an O-steering center; r-turning radius; g.m-vehicle centroid; a-distance of the vehicle centroid to the front axle; b-distance of the vehicle centroid to the rear axle; d-vehicle track; delta-front wheel corner; beta-centroid slip angle; ωr-yaw rate; v-vehicle speed; vrf-right front wheel speed; vrr-right rear wheel speed; vlf-left front wheel speed; vlr-left rear wheel speed.
The specific embodiment is as follows:
embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The specific production tool attribute of the automobile makes the automobile more sensitive to cost, prevents the large-scale deployment of ADAS, and the yaw rate of the automobile is important information of ADAS technology, such as the prediction of the track of the automobile by using the yaw rate in the technologies of AEB, FCW, LDW and the like at high speed. The existing measurement of the yaw rate of a vehicle mainly depends on an inertial touch sensor gyroscope, and a sensor measurement system is complex and high in cost. To reduce vehicle cost, yaw rate is estimated using existing vehicle dynamics sensors wheel speed sensors and an appropriate vehicle dynamics model.
The present invention is generally aimed at improving the accuracy of the estimation of the yaw rate in the case of cost control.
The following describes a method and a system for controlling the yaw rate with reference to the drawings.
FIG. 1 is a block diagram of an information processing flow in an embodiment of the invention; in fig. 1, 101 is an information acquisition module that acquires vehicle information through a sensor provided and transmits the vehicle information to an information processing module. The information acquisition module comprises various sensor devices; a steering wheel angle sensor is arranged in the steering wheel steering mechanism, and the steering wheel angle sensor is used for acquiring steering wheel angle information. The wheel speed sensor is arranged, and can measure the wheel speed information and then the wheel speed processing unit estimates the wheel speeds of four wheels. It should be noted that the sensor may be other sensor devices that may obtain, or calculate, similar information.
The information acquired by the sensor is transmitted into an information processing module, and the information processing module processes and computes the information to acquire the yaw rate. The method for calculating the yaw rate is divided into two calculation ways, wherein one model is used for estimating the yaw rate of the vehicle according to steering wheel angle information and longitudinal vehicle speed information of the vehicle by combining a two-degree-of-freedom vehicle model. Another model is to estimate the vehicle yaw rate based on the non-driven wheel speed and steering wheel angle information. The information processing module acquires wheel speed information, the wheel speed information is acquired through a wheel speed sensor, and the longitudinal vehicle speed V is estimated through a longitudinal vehicle speed estimation unit.
The length information of the vehicle is obtained by measurement.
The obtained yaw rate of the vehicle is used as an important parameter for controlling the vehicle by the operation of the vehicle ADAS system, and the yaw rate is used for predicting the track of the vehicle at a high speed in the technologies such as AEB, FCW and LDW.
And transmitting the processing information obtained by the information processing module to a vehicle control module, wherein the vehicle control module executes a vehicle running instruction so as to control the running of the vehicle.
The embodiment of the invention provides a yaw rate judging flow chart.
Fig. 2 is a flow chart of yaw rate determination according to an embodiment of the present invention, in which a unit 201 obtains vehicle information, and step 202 estimates a yaw rate of the host vehicle according to steering wheel angle information and host vehicle longitudinal vehicle speed information in combination with a two-degree-of-freedom vehicle model. The resulting yaw rate is 203 the first yaw rate. Step 207 estimates the vehicle yaw rate based on the non-drive wheel speed and the steering wheel angle information, resulting in a second yaw rate 208.
The first yaw rate and the second yaw rate are transmitted to step 204, and step 204 is a yaw rate information processing arbitration module. The information processing module is provided with two longitudinal vehicle speed judging thresholds, namely a first threshold and a second threshold. Judging whether the yaw rate is less than a first threshold, if so, the system will select 203 a first yaw rate; if it is greater than the first threshold, the system proceeds to the decision of the second step 205. In step 205, a second threshold is set, if the longitudinal speed of the vehicle is greater than the threshold, the second yaw rate is selected 208, and if the longitudinal speed of the vehicle is less than the set second threshold, the linear difference is calculated according to the first yaw rate and the second yaw rate to obtain an optimal estimated value of the yaw rate.
In another aspect of the invention, the steering wheel angle information and the vehicle speed information are obtained by sensors, and the specific steering wheel angle sensor obtains the steering wheel angle and then divides the steering wheel angle by the vehicle steering gear ratio to obtain the parameter. The vehicle speed information is estimated by a longitudinal vehicle speed estimating unit. And calculating the yaw rate by combining the two-degree-of-freedom vehicle model to obtain a first yaw rate.
Specifically, a two-degree-of-freedom automobile motion differential equation is combined, and the yaw rate is a constant value in steady state response, at the momentThe yaw rate estimation model can be obtained by substituting the two-degree-of-freedom automobile motion differential equation and then simultaneously eliminating beta.
And acquiring non-driving wheel speed information and steering wheel corner information, and calculating to obtain a second yaw rate.
Concretely, non-driving wheel speed information is obtained through a wheel speed sensor, steering wheel angle is obtained through a steering wheel angle sensor, and then the parameter delta-front wheel angle is obtained by dividing the steering transmission ratio of the vehicle.
A longitudinal vehicle speed threshold is set.
The specific vehicle needs to be tested at different vehicle speeds, meanwhile, the yaw rate is estimated by adopting two methods, and compared with the yaw rate acquired by other equipment (such as inertial navigation), the estimation method with higher precision is selected, so that the speed threshold is determined.
The longitudinal vehicle speed threshold value can be two, namely a first threshold value and a second threshold value; according to the longitudinal vehicle speed information, if the longitudinal vehicle speed information is smaller than a first threshold value of the longitudinal vehicle speed, selecting a first yaw rate; and if the speed is larger than the first threshold value of the longitudinal vehicle speed, selecting a second threshold value. And selecting a third yaw rate if the vehicle speed is between the first threshold and the second threshold.
The specific third yaw rate is obtained from the linear difference calculated from the first yaw rate and the second yaw rate.
Fig. 3 is a yaw-rate estimation system of the present embodiment, the yaw-rate estimation system including: the device comprises a wheel speed processing unit, a longitudinal vehicle speed estimating unit, a steering wheel corner unit, a low-speed working condition yaw rate estimating unit, a high-speed working condition yaw rate estimating unit and a yaw rate arbitration unit. The specific high-speed working condition yaw rate estimation unit is suitable for higher speeds, and the specific speed range is determined by a set threshold value. Similarly, the low-speed working condition yaw rate estimation unit has a specific low-speed range determined by a set threshold value.
The specific yaw rate arbitration unit is a yaw rate selection unit for judging and selecting the yaw rate according to the longitudinal speed of the vehicle.
The specific wheel speed processing unit is used for acquiring the wheel speed information of each wheel of the vehicle;
the specific longitudinal vehicle speed estimation unit is used for estimating the longitudinal vehicle speed of the vehicle based on the non-driving wheel speed;
the specific steering wheel angle unit obtains the steering wheel angle through a steering wheel angle sensor, and then obtains the parameter by dividing the steering wheel angle by the steering transmission ratio of the vehicle.
And the specific low-speed working condition yaw rate estimation unit is used for estimating the yaw rate of the vehicle by combining the two-degree-of-freedom vehicle model according to the steering wheel rotation angle information and the longitudinal vehicle speed information of the vehicle.
And the specific high-speed working condition yaw rate estimation unit is used for estimating the yaw rate of the vehicle according to the non-driving wheel speed and the steering wheel corner information.
Compared with the estimation mode in the prior art, the method has the advantages that the yaw rate sensor with higher cost is avoided, and meanwhile, the accuracy of estimating the yaw rate is improved.
The specific yaw rate calculation method in this embodiment is shown in fig. 4:
the letter in the figure is denoted as O-turn center; r-turning radius; g.m-vehicle centroid; a-distance of the vehicle centroid to the front axle; b-distance of the vehicle centroid to the rear axle; d-vehicle track; delta-front wheel corner; beta-centroid slip angle; ωr-yaw rate; v-vehicle speed; vrf-right front wheel speed; vrr-right rear wheel speed; vlf-left front wheel speed; vlr-left rear wheel speed.
Wherein the vehicle distance information is obtained by measurement, such as a measuring tool, e.g. a meter ruler.
The first yaw angle calculation method comprises the following steps:
method for estimating yaw rate based on steering wheel rotation angle under low-speed working condition
The differential equation of motion of the two-degree-of-freedom automobile is as follows:
the yaw rate at steady state response is constantThe yaw rate estimation model can be obtained by substituting the above equation, and then combining and eliminating β:
k in 1 Is the cornering stiffness of the front axle; k (k) 2 Is the cornering stiffness of the rear axle; u is the longitudinal speed of the vehicle.
The high-speed working condition yaw rate estimation unit: and estimating the yaw rate of the vehicle according to the non-driving wheel speed and the steering wheel angle information.
The method for estimating the yaw rate based on the non-driving wheel speed difference under the high-speed working condition comprises the following steps:
for a rear-drive operating vehicle, the non-driving wheel is a front wheel, and the wheel speeds of the two front wheels can be obtained according to kinematics:
V rf ＝(V·cos(β)+1/2·ω r ·d)·cos(δ)+(ω r ·a+V·sin(β))·sin(δ) (1)
V lf ＝(V·cos(β)－1/2·ω r ·d)·cos(δ)+(ω r ·a+V·sin(β))·sin(δ) (2)
from equations (1) and (2), a yaw rate estimation model of the following vehicle can be derived:
for a front-drive operating vehicle, the non-driving wheel is a rear wheel, and the wheel speeds of the two rear wheels can be obtained according to kinematics:
V rr ＝V·cos(β)+1/2·ω r ·d (3)
V lr ＝V·cos(β)－1/2·ω r ·d (4)
from the equations (3) and (4), a yaw rate estimation model of the precursor vehicle can be deduced:
and selecting a corresponding yaw rate estimation model according to different driving modes of the vehicle, and estimating to obtain the yaw rate.
Wherein the yaw rate arbitration unit: and according to the longitudinal speed information of the vehicle, arbitrating and outputting the current optimal estimation value of the yaw rate of the vehicle.
The yaw rate arbitration unit arbitrates the yaw rate 1 estimated by the yaw rate estimation unit under the low-speed working condition and the yaw rate 2 estimated by the yaw rate estimation unit under the high-speed working condition according to the longitudinal speed of the vehicle, and outputs an optimal estimated value of the yaw rate.
In another aspect of this embodiment, a processor is included that is configured to process the vehicle information acquired by the sensor and calculate the vehicle information to a yaw rate and select an optimal yaw rate based on a set threshold. A memory configured to store data information acquired by the sensor and information results processed by the processor, and a computer program on the memory and executable on the processor.
Here, the explanation of the foregoing embodiment of the control method of the automobile is also applicable to the control device of the automobile of this embodiment, and will not be repeated here.
And when the processor executes the program, the yaw rate is any one of the methods for determining the yaw rate of the vehicle.
The device is configured to a vehicle comprising a driver assistance system ADAS; and the ADAS includes the memory and a memory.
In order to achieve the above-described embodiments, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of calculating a yaw rate of a vehicle.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Claims (8)

1. A vehicle yaw rate measurement method, characterized by comprising the steps of:
acquiring steering wheel corner information and longitudinal vehicle speed information, and calculating yaw rate by combining a two-degree-of-freedom vehicle model to obtain a first yaw rate;
acquiring non-driving wheel speed information and steering wheel corner information, and calculating to obtain a second yaw rate, wherein the second yaw rate is specifically as follows:
for a rear-drive operating vehicle, the non-driving wheel is a front wheel, and the wheel speeds of the two front wheels can be obtained according to kinematics:
（1）
（2）
from equations (1) and (2), a yaw rate estimation model of the following vehicle can be derived:
for a front-drive operating vehicle, the non-driving wheel is a rear wheel, and the wheel speeds of the two rear wheels can be obtained according to kinematics:
（3）
（4）
from the equations (3) and (4), a yaw rate estimation model of the precursor vehicle can be deduced:
selecting a corresponding yaw rate estimation model according to different driving modes of the vehicle, and estimating to obtain yaw rate;
wherein: d is the track of the vehicle; delta is the front wheel corner; beta is the centroid slip angle; omega r Is yaw rate; v is the speed of the vehicle; v (V) rf The wheel speed of the right front wheel; v (V) rr The wheel speed of the right rear wheel; v (V) lf The wheel speed of the left front wheel is the wheel speed of the left front wheel; v (V) lr The wheel speed of the left rear wheel;
obtaining a third yaw rate according to the linear difference between the first yaw rate and the second yaw rate;
setting a longitudinal vehicle speed threshold;
selecting different yaw rates according to the comparison result of the longitudinal vehicle speed information and the threshold value;
the number of the longitudinal vehicle speed thresholds is two, namely a first threshold value and a second threshold value;
according to the longitudinal vehicle speed information, if the longitudinal vehicle speed information is smaller than a first threshold value of the longitudinal vehicle speed, selecting a first yaw rate; if the speed is greater than the first threshold value of the longitudinal vehicle speed, selecting a second yaw rate;
and selecting the third yaw rate if the third yaw rate is between the first threshold and the second threshold.
2. A vehicle yaw rate measurement method according to claim 1, wherein,
the steering wheel angle information is acquired by a steering wheel angle sensor and is transmitted to the information processing unit;
the speed sensor obtains the speed of the wheel, the speed information is transmitted into the information processing unit, and the speed information is calculated from the speed information.
3. A vehicle yaw rate measurement method according to claim 1, wherein,
the calculating the yaw rate by combining the two-degree-of-freedom vehicle model to obtain a first yaw rate comprises the following steps: and carrying out a two-degree-of-freedom vehicle model calculation formula, and carrying out a longitudinal vehicle speed information value and a steering wheel angle information value to obtain a yaw rate value.
4. A vehicle yaw rate measurement method according to claim 1, wherein,
the obtaining of the non-driving wheel speed information comprises the following steps: acquiring non-driving wheel speed information by a wheel speed sensor;
the steering wheel angle information is obtained by a steering wheel angle sensor and is transmitted to the information processing unit.
5. A vehicle yaw rate measurement method according to claim 1, wherein,
the calculating to obtain the second yaw rate includes: the yaw rate is obtained from the non-driving wheel speed difference.
6. An apparatus, comprising:
a processor configured to process the vehicle information acquired by the sensor, calculate the vehicle information to obtain a yaw rate, and select an optimal yaw rate according to a set threshold; a memory configured to store data information acquired by the sensor and information results processed by the processor; a computer program on the memory and executable on the processor;
the method of calculating the yaw rate of a vehicle according to any one of claims 1 to 5 is implemented when the processor executes the program.
7. The apparatus of claim 6, wherein: the device comprises a vehicle of a driver assistance system ADAS; and the ADAS includes the memory and a memory.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a method of calculating a yaw rate of a vehicle as claimed in any one of claims 1 to 5.
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