Patent ID: 8694224
Filing Date: 2014-04-08
Classification: B60R,B60T,B60W,G01J,G01P,G06K,G07C,H04N

Abstract:
1. A method for determining a yaw rate for a road-based vehicle having a yaw rate sensor, the method comprising: (a) capturing image data representative of an environment exterior of the vehicle; (b) determining, by a processor, if the vehicle is moving and has a zero yaw rate at least based on processing of captured image data; (c) obtaining a first measured yaw rate from the yaw rate sensor when the vehicle is determined in step (b) to be moving and to have a zero yaw rate; (d) determining, by the processor a yaw rate offset based at least in part on the measured yaw rate obtained in step (c); (e) obtaining a second measured yaw rate from the yaw rate sensor; and (f) determining, by the processor, a corrected yaw rate for the vehicle based on the second measured yaw rate and the yaw rate offset.