Patent ID: 11947021
Assignee: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. The method as claimed in claim 6, wherein:
the method further comprises obtaining the speeds of the vehicle measured in the first and the second orthogonal directions, respectively, from the measurements of the position or of the speed of the vehicle taken by the satellite geopositioning unit, and
to detect a backward movement of the vehicle, the method further comprises:
comparing a first term to a second term, the first term being equal to |α−(ψ(k)−π)| and the second term being equal to |α−(ψ(k)|, where α is the first angle computed at a time k and expressed in radians, ψ(k) is equal to the corrected yaw angle at the time k expressed in radians or to the value, expressed in radians, of the yaw angle measured at the time k by an additional sensor independent of the satellite geopositioning unit,
when the first term is lower than the second term, detecting the backward movement, and
when the first term is higher than the second term, not detecting the backward movement.