Patent ID: 9205742
Filing Date: 2015-12-08
Classification: B60K,B60W,G01C

Abstract:
1. An offset correcting apparatus of a yaw rate sensor, comprising: a non-transitory computer-readable storage medium comprising: a current status determining unit which determines a status of its own vehicle as one of a driving vehicle and a stopped vehicle; a first offset correcting unit that determines whether its own vehicle is being driven in a straight line when its own vehicle is determined as the driving vehicle, and corrects an offset of a yaw rate sensor installed in its own vehicle when it is determined that its own vehicle is being driven in the straight line; and a second offset correcting unit that determines whether a position of its own vehicle has changed based on whether a distance between its own vehicle and a stopped object has changed when its own vehicle is determined as the stopped vehicle, and corrects the offset of the yaw rate sensor when it is determined that the position of its own vehicle has not changed; wherein the second offset correcting unit includes: a position change determining unit which determines whether a position of its own vehicle is changed for a predetermined time; and a second yaw rate offset correcting unit which if it is determined that the position of its own vehicle is not changed, corrects the offset of the yaw rate sensor based on a bias voltage which is applied to the equipment which is installed in its own vehicle; wherein the position change determining unit uses a radar sensor or an angular velocity sensor when determining whether the position of its own vehicle is changed; and wherein if the radar sensor is used to determine that the distance to a designated target which does not move is changed, the position change determining unit determines that the position of its own vehicle is changed or if the angular velocity sensor is used to determine that a position of equipment which is installed in its own vehicle is changed, the position change determining unit determines that the position of its own vehicle is changed.