SE1750104A1 - Method and control unit for estimating bias of yaw rate sensor - Google Patents

Method and control unit for estimating bias of yaw rate sensor

Info

Publication number
SE1750104A1
SE1750104A1 SE1750104A SE1750104A SE1750104A1 SE 1750104 A1 SE1750104 A1 SE 1750104A1 SE 1750104 A SE1750104 A SE 1750104A SE 1750104 A SE1750104 A SE 1750104A SE 1750104 A1 SE1750104 A1 SE 1750104A1
Authority
SE
Sweden
Prior art keywords
yaw rate
vehicle
rate sensor
control unit
estimating
Prior art date
Application number
SE1750104A
Other languages
Swedish (sv)
Other versions
SE540698C2 (en
Inventor
Andersson Jonny
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1750104A priority Critical patent/SE540698C2/en
Priority to DE102018000599.3A priority patent/DE102018000599A1/en
Publication of SE1750104A1 publication Critical patent/SE1750104A1/en
Publication of SE540698C2 publication Critical patent/SE540698C2/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • 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
    • B60W40/114—Yaw movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B60G2400/0523—Yaw rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/08—Failure or malfunction detecting means
    • B60G2600/082—Sensor drift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/94—Electronic Stability Program (ESP, i.e. ABS+ASC+EMS)

Abstract

Method (400) and control unit (310) in a vehicle (100) for estimating bias of a yaw rate sensor (110) on-board the vehicle (100). The method (500) comprises: measuring (501) a yaw rate with the yaw rate sensor (110) during a time period (T) while passing a route segment (200); calculating (502) a yaw angle by integrating the yaw rate measured (501) by the yaw rate sensor (110) over the time period (T); determining (503) vehicle directional change velocity while the vehicle (100) is passing the route segment (200), with a vehicle directional determining device (120); calculating (505) a vehicle directional change of the vehicle (100); and estimating (506) the yaw rate sensor bias by comparing the calculated (502) yaw angle with the calculated (505) vehicle directional change.
SE1750104A 2017-02-07 2017-02-07 Method and control unit for estimating bias of yaw rate sensor SE540698C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1750104A SE540698C2 (en) 2017-02-07 2017-02-07 Method and control unit for estimating bias of yaw rate sensor
DE102018000599.3A DE102018000599A1 (en) 2017-02-07 2018-01-25 Method and control unit for estimating the deviation of a yaw rate sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1750104A SE540698C2 (en) 2017-02-07 2017-02-07 Method and control unit for estimating bias of yaw rate sensor

Publications (2)

Publication Number Publication Date
SE1750104A1 true SE1750104A1 (en) 2018-08-08
SE540698C2 SE540698C2 (en) 2018-10-16

Family

ID=62910189

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1750104A SE540698C2 (en) 2017-02-07 2017-02-07 Method and control unit for estimating bias of yaw rate sensor

Country Status (2)

Country Link
DE (1) DE102018000599A1 (en)
SE (1) SE540698C2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113260544A (en) * 2018-12-28 2021-08-13 爱知制钢株式会社 Correction method of gyroscope sensor

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020256070A1 (en) * 2019-06-21 2020-12-24 愛知製鋼株式会社 Control method and control system for vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113260544A (en) * 2018-12-28 2021-08-13 爱知制钢株式会社 Correction method of gyroscope sensor

Also Published As

Publication number Publication date
SE540698C2 (en) 2018-10-16
DE102018000599A1 (en) 2018-08-09

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