Yaw rate sensor

A yaw rate sensor having a substrate, a first Coriolis element and a second Coriolis element is described, the first Coriolis element being excitable to a first vibration by first excitation means, and the second Coriolis element being excitable to a second vibration by second excitation means, and the first and second Coriolis elements being connected to one another by a spring structure, and the spring structure also including at least one rocker structure, the rocker structure being anchored on the substrate by at least one spring element.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention is generally directed to a yaw rate sensor.

2. Description of Related Art

Such yaw rate sensors are known in general. For example, yaw rate sensors using Coriolis elements are known from published German patent documents DE 101 08 196 A1, DE 101 08 197 A1 and DE 102 37 410 A1, in which a first and a second Coriolis element in particular are joined to one another by a spring, and vibrations are excited in parallel to a first axis, a first and a second detection means detecting a deflection of the first and second Coriolis elements, based on a Coriolis force acting on the Coriolis elements perpendicularly to a first axis, so that the difference between a first detection signal of the first detection means and a second detection signal of the second detection means is a function of the Coriolis force and thus is also a function of the applied yaw rate, the axis of rotation being perpendicular to the surface normal of a main plane of extent of the yaw rate sensor. The first and second detection signals are evaluated capacitively in particular. In addition to such Ωzyaw rate sensors, there are also known Ωxyaw rate sensors, in which the Coriolis force acts perpendicularly to the main plane of extent (parallel to a third axis).

SUMMARY OF THE INVENTION

The yaw rate sensor according to the present invention has the advantage over the related art that the detection accuracy in detection of yaw rates is substantially increased. This is achieved by implementing the rocker structure, which is coupled to the substrate by the spring element, in the spring structure. With the present yaw rate sensor, the yaw rate is detected by the vibration of the first and second Coriolis elements in phase opposition perpendicularly to the main plane of extent (Ωxsensor), which is also referred to below as the detection mode (alternatively, however, it is also conceivable for the structure to be designed in such a way that the detection mode lies in the main plane of extent (Ωzsensor). This detection mode may have an unwanted interference mode superimposed on it, the interference mode including an in-phase vibration of the first and second Coriolis elements perpendicularly to the main plane of extent. To detect the detection mode undisturbed by influences of the interference mode as much as possible, it is advantageous if the frequencies of the interference modes and the detection modes are as far apart as possible. Since the rocker structure is designed to be stiff with respect to bending perpendicular or parallel to the main plane of extent in comparison with the coupling springs used in the related art, in-phase vibrations of the first and second Coriolis elements are suppressed or shifted toward higher frequencies. At the same time, the frequency of the vibration of the first and second Coriolis elements in phase opposition is influenced only comparatively little or hardly at all by the rocker structure because the rocker structure vibrates about a torsion axis or pivot axis of the spring element and thus there is no bending stress of the coupling element in particular. Consequently, only the interference modes and not the detection modes are shifted toward higher frequencies, so that the frequency interval between the detection mode and interference mode increases and the measurement accuracy of the yaw rate sensor is increased as a whole. This is achieved within the scope of the present invention using comparatively simple and inexpensive means, which are implementable, for example, using standard micromechanical manufacturing methods, preferably for surface micromechanics. The yaw rate sensor includes in particular a micromechanical yaw rate sensor, so that the substrate preferably includes a semiconductor substrate and in particular preferably a silicon substrate.

According to a preferred refinement, it is provided that the rocker structure includes at least one first spring acting on the first Coriolis element and at least one second spring acting on the second Coriolis element, the first and second springs being coupled to one another via a coupling element of the rocker structure. First and second vibrations in phase opposition of the first and second Coriolis elements are thus implementable in an advantageous manner, while at the same time in-phase vibrations of the first and second Coriolis elements perpendicular or parallel to the main plane of extent, for example, are suppressed by the comparatively great bending stiffness of the coupling element.

According to a preferred refinement, it is provided that the coupling element is designed to be less elastic than the first and/or second spring(s) and in particular is designed to be stiff, the first and second springs including flexural springs in particular. The interference modes are advantageously shifted to higher frequencies by the stiffness of the coupling element, so that an enlarged frequency interval between the interference modes and the detection modes is obtained in comparison with the related art. The flexural springs are advantageously designed as U springs.

According to a preferred refinement it is provided that the spring element includes a torsion spring, so that one torsion axis of the torsion spring is preferably aligned parallel to a main plane of extent of the substrate and in particular preferably parallel or perpendicular to the first and second vibrations. The coupling element is designed to be able to vibrate about the torsion axis in an advantageous manner, so that a rotational vibration of the coupling element, in particular in-phase with the up-and-down movements, in phase opposition of the first and second Coriolis elements perpendicularly to the main plane of extent, is made possible and thus the detection mode is affected only slightly or not at all. The influence of the rocker structure on the frequency of the detection mode is preferably adjustable in a targeted manner through the spring stiffness of the torsional springs. Alternatively, a detection vibration of the first and second Coriolis elements parallel and antiparallel to first or second directions X, Y, i.e., parallel to the main plane of extent, is also conceivable, if the yaw rate is oriented in parallel to the main plane of extent and the first and second vibrations are excited in parallel and antiparallel to second or first directions Y, X.

According to a preferred refinement, it is provided that the spring element includes a flexural spring, so that the rocker structure is pivotable via the flexural spring about a pivot axis, which is essentially perpendicular to the main plane of extent. The pivot axis preferably runs parallel or perpendicular to the first and second vibrations.

According to a preferred refinement, it is provided that the spring element is connected to the substrate via anchoring elements, so that each anchoring element preferably includes two partial anchoring elements, which are joined together by a spring coupling, the spring element being attached to the spring coupling, and the spring coupling in particular preferably being oriented perpendicularly to the torsion axis or pivot axis.

According to a preferred refinement, it is provided that the first spring and the second spring is more elastic in parallel to the first and second vibration than perpendicularly to the first and second vibration. The first and second vibrations are facilitated in an advantageous manner, while the occurrence of additional interference modes is suppressed. Furthermore, it is conceivable that the first and second vibrations are perpendicular or parallel to the main extent of the coupling element, so that the sensor design is adaptable in particular to specific installation space requirements.

According to a preferred refinement, it is provided that an additional first spring is situated between the first Coriolis element and the coupling element and/or an additional second spring is situated between the second Coriolis element and the coupling element. The particular spring and the additional spring are in particular situated parallel to one another, so that additional interference modes due to vibration of the first and/or second Coriolis element(s), in particular parallel to the main plane of extent and perpendicular to the first and/or second directions, are easily suppressed.

According to a preferred refinement, it is provided that the first Coriolis element is attached to a first drive frame via first drive springs, and the second Coriolis element is attached to a second drive frame via second drive springs, the first drive means being provided for driving the first drive frame and the second drive means being provided for driving the second drive frame. Thus in particular a rotation of the first Coriolis element, the second Coriolis element and/or the coupling element in the main plane of extent and/or perpendicular thereto is thus optionally prevented.

According to a preferred refinement, it is provided that the first Coriolis element includes a first Coriolis frame connected to the first spring and connected to a first Coriolis detection element via first detection springs, and/or the second Coriolis element includes a second Coriolis spring connected to the second spring and connected to a second Coriolis detection element via second detection springs. The signal-to-noise ratio of the yaw rate sensor is thus increased in an advantageous manner.

According to a preferred refinement, it is provided that the first Coriolis element, the first drive frame and/or the first Coriolis detection element are each attached to the substrate via first mounting springs, and/or the second Coriolis element, the second drive frame and/or the second Coriolis detection element are each attached to the substrate via second mounting springs. This advantageously reduces the influence of an interfering movement which is caused by the first and second drive elements and is superimposed on the detection mode. The first and second mounting springs are preferably designed to be stiff perpendicularly to the main plane of extent, so that the first and second mounting springs advantageously act as hinges for the first and second Coriolis elements. The stiffness ratios in particular are adjusted in such a way that the outer springs (on the side facing away from the rocker structure) preferably allow at most 50% and particularly preferably at most 10% of the deflection of the internal springs (on the side facing away from the rocker structure). Alternatively, it is preferably provided that the first and second mounting springs are designed to be stiff parallel to the second direction. It is provided in particular that the first and second mounting springs, which anchor the first and second drive frames on the substrate, are designed to be stiff, so that the allowed deflections of the first and second drive frame are at most twice as small as the deflections of the rocker structure at the same force along the third direction.

According to a preferred refinement, it is provided that the first and the second vibration parallel or antiparallel to the first or second direction takes place in such a way that in the presence of a yaw rate perpendicular to the main plane of extent, a first and a second Coriolis force act parallel to the second or first direction Y, X, i.e., perpendicularly to third direction Z, and a deflection of the first and second Coriolis elements parallel or antiparallel to the second or first direction Y, X is thus detectable.

According to a preferred refinement, it is provided that the first drive frame and the second drive frame are coupled to one another via a deflecting frame, the deflecting frame including a plurality of deflecting frame part elements, which are connected to one another via spring units in such a way that a vibration in phase opposition of the first and second drive frames parallel to the first and second vibrations produces a deformation of the deflecting frame in a plane parallel to the main plane of extent. In an advantageous manner, a degeneration between a parallel driving vibration (interference mode) and an antiparallel driving vibration (useful mode) is canceled by such a coupling between the first and the second drive frames.

According to a preferred refinement, it is provided that the first drive frame is coupled to a first frame part via a first spring unit, and the second drive frame is coupled to a second frame part via a second spring unit, so that the first and second frame parts are coupled to one another via additional first and additional second spring units to form a deflecting frame running peripherally around the first and second drive frames, and the first and second frame parts each include two L-shaped L elements, each of which is coupled to the substrate in a corner area. The interference mode is advantageously suppressed by the deflecting frame, while the drive mode is influenced only insignificantly or not at all, thereby further increasing the interval between the frequency of the interference mode and the frequency of the drive mode. This is achieved by shearing of the spring connections between those four L-shaped L elements in the interference mode.

Exemplary embodiments of the present invention are illustrated in the drawings and explained in greater detail in the following description.

DETAILED DESCRIPTION OF THE INVENTION

The same parts in the various figures are always labeled with the same reference numerals and therefore are usually mentioned or discussed only once.

FIGS. 1 and 2show schematic top views of two yaw rate sensors1according to the related art. Yaw rate sensor1illustrated inFIG. 1has a substrate2, a first Coriolis element10and a second Coriolis element20, which extend essentially parallel to a main plane of extent100of substrate2and are designed to be movable with respect to substrate2. For this purpose, first Coriolis element10is suspended by elastic first suspension springs50on first anchoring units51of substrate2, and second Coriolis element20is suspended by second elastic suspension springs52on second anchoring units53. First Coriolis element10is excitable by first excitation means to a first vibration12parallel to main plane of extent100and parallel to a first direction X (not shown), while second Coriolis element20is excitable by second excitation means (not shown) to a second vibration22antiparallel to first vibration12. The first and second excitation means include, for example, a capacitive comb drive. First and second Coriolis elements10,20are connected to one another by a spring structure30, including a flexural spring structure according to the related art. In the presence of a yaw rate about an axis of rotation parallel to a second direction Y, a first Coriolis force10′ acts on first Coriolis element10, and a second Coriolis force20′ acts on second Coriolis element20. First and second Coriolis forces10′,20′ each act perpendicularly to main plane of extent100, i.e., parallel to a third direction Z and antiparallel to one another. One Coriolis element10,20is thus lifted in relation to substrate2, for example, while the other Coriolis element20,10is lowered in relation to substrate2. These changes in distance are a measure of yaw rate and are measured and evaluated differentially by first and second detection means (not shown). The first and second detection means preferably include flat electrodes situated perpendicularly to main plane of extent100between first and second Coriolis elements10,20and substrate2. First and second suspension springs50,52preferably include flexural springs, which are designed to be more elastic parallel to first direction X than parallel to second direction Y.FIG. 2illustrates an almost identical yaw rate sensor1, first and second vibrations12,22running parallel to second direction Y, so that yaw rates having an axis of rotation parallel to first direction X are detectable. First and second suspension springs50,52are designed to be more elastic parallel to second direction Y than parallel to first direction Y.

FIG. 3shows a schematic top view of a yaw rate sensor1according to a first specific embodiment of the present invention, the first specific embodiment of the present invention essentially resembling yaw rate sensor1illustrated inFIG. 1, where spring structure30includes a rocker structure30′. Rocker structure30′ includes a coupling element33extending between first and second Coriolis elements10,20parallel to first direction X. A first end of coupling element33is elastically connected by a first spring31and an additional first spring31′ to first Coriolis element10, while the opposite second end of coupling element33is elastically connected by a second spring32and an additional second spring32′ to second Coriolis element20. First spring, additional first spring, second spring and additional second spring31,31′,32,32′ are designed to be more elastic parallel to first direction X than parallel to second direction Y. Furthermore, coupling element33is designed to be stiff at least in comparison with springs31,31′,32,32′. Coupling element33is also connected to substrate2by an additional spring structure40, additional spring structure40including two spring elements42designed as torsion springs, each acting on coupling element33and on an anchoring element41. Spring elements42extend parallel to second direction Y and thus allow a rotational vibration of coupling element33about a torsion axis43parallel to second direction Y. A deflection in phase opposition of first and second Coriolis elements10,20parallel and antiparallel to third direction Z (also referred to as the detection mode) based on first and second Coriolis forces10′,20′ then generates a rotational movement and a rocking movement of coupling element33about torsion axis43, while in-phase deflection of first and second Coriolis elements10,20(also referred to as the interference mode) is suppressed by the bending stiffness of rocker structure30′.

FIG. 4shows a schematic top view of a yaw rate sensor1according to a second specific embodiment of the present invention, the second specific embodiment essentially resembling the first specific embodiment illustrated inFIG. 3, but in contrast (as inFIG. 2), first and second suspension springs50and first spring, additional first spring, second spring and additional second spring31,31′,32,32′ are designed to be more elastic parallel to second direction Y than parallel to first direction Y, so that detection of a yaw rate parallel to first direction X is made possible.

FIG. 5shows a schematic top view of a yaw rate sensor1according to a third specific embodiment of the present invention, the third specific embodiment essentially resembling the first specific embodiment shown inFIG. 3, where first Coriolis element10is integrated into a first drive frame13and second Coriolis element20is integrated into a second drive frame23. First suspension springs50here act on first drive frame13, which is connected by first drive springs14to first Coriolis element10. Similarly, second suspension springs55act on second drive frame23, which is connected by second drive springs24to second Coriolis element20. First and second drive springs14,24are designed to be more elastic parallel to second direction Y than parallel to first direction X, so that a driving force acting parallel to first direction X is transferable from first and second drive frame(s)13,23to first and second Coriolis elements10,20.

FIG. 6shows a schematic top view of a yaw rate sensor1according to a fourth specific embodiment of the present invention, the fourth specific embodiment essentially resembling the third specific embodiment illustrated inFIG. 5, but in contrast (as inFIG. 4), first and second suspension springs50and first spring, additional first spring, second spring and additional second spring31,31′,32,32′ are designed to be more elastic parallel to second direction Y than parallel to first direction X, so that it is possible to detect a yaw rate parallel to first direction X. In addition, first and second drive springs14,24are now designed to be more elastic parallel to first direction X than parallel to second direction Y, so that first and second vibrations parallel to second direction Y may be driven by first and second drive frames13,23.

FIG. 7shows a schematic top view of a yaw rate sensor1according to a fifth specific embodiment of the present invention, the fifth specific embodiment essentially resembling the third specific embodiment shown inFIG. 5, first Coriolis element10including a first Coriolis frame19and a first Coriolis detection element15situated parallel to main plane of extent100within first Coriolis frame19, first Coriolis detection element15being elastically connected by first detection springs16to Coriolis frame19. First spring31and additional first spring31′ act directly on Coriolis frame14(alternatively, it is conceivable for Coriolis frame19to be opened and for first spring and additional first spring31,31′ to act directly on Coriolis detection element15). First detection springs16are designed to be more elastic parallel to first direction X than parallel to second direction Y. In addition, Coriolis detection element15is attached to substrate2by first mounting springs17having additional anchoring units17′, first mounting springs17being designed to be more elastic parallel to second direction Y than parallel to first direction X. Second Coriolis element20has a similar design and includes a second Coriolis detection element25, which is enclosed by second detection springs26in a second Coriolis frame29and is attached to substrate2by second mounting springs27on second anchoring units27′.

FIG. 8shows a schematic top view of a yaw rate sensor1according to a sixth specific embodiment of the present invention, the sixth specific embodiment essentially resembling the fifth specific embodiment illustrated inFIG. 7, but in contrast (as inFIG. 6), first and second suspension springs50and first spring, additional first spring, second spring and additional second spring31,31′,32,32′ are designed to be more elastic parallel to second direction Y than parallel to first direction Y, so that detection of a yaw rate parallel to first direction X is made possible. Furthermore, first and second drive springs14,24are designed to be more elastic parallel to first direction X than parallel to second direction Y, so that first and second vibrations parallel to second direction Y may be driven by first and second drive frames13,23. In addition, first and second detection springs16,26are now designed to be more elastic parallel to second direction Y than parallel to first direction X, while first and second mounting springs17,27are designed to be more elastic parallel to first direction X than parallel to second direction Y.

FIGS. 9 and 10athrough10dshow schematic views of a yaw rate sensor1according to a seventh specific embodiment of the present invention, the seventh specific embodiment essentially resembling the third specific embodiment shown inFIG. 5, the yaw rates to be measured not being aligned parallel to second direction Y but parallel to third direction Z, i.e., aligned perpendicularly to main plane of extent100. Spring element42thus includes a flexural spring, which allows a pivoting movement of rocker structure30′ about a pivot axis44perpendicular to main plane of extent100. First and second vibrations12,22again run parallel and antiparallel to first direction X, while first and second Coriolis forces10′,20′ now act on first and second Coriolis elements10,20along second direction Y. First and second Coriolis elements10,20are therefore in phase opposition to one another and are deflected in parallel to second direction Y, so that the first and second detection means are designed as electrode structures300, which are integrated into first and second Coriolis elements10,20and are designed for detection of deflections along second direction Y of first and second Coriolis elements10,20relative to substrate2. Rocker structure30′ thus does not rock about torsion axis43illustrated inFIG. 5, but instead about a pivot axis44running centrally through rocker structure30′ and perpendicularly to main plane of extent100. First and second (driving) vibrations12,22are illustrated schematically without the presence of the yaw rate for the sake of clarity inFIGS. 10aand10b, whereas inFIGS. 10cand10d, the first and second deflections of first and second Coriolis elements10,20are illustrated as being parallel and antiparallel to the second axis because of first and second Coriolis forces10′,20′ in the presence of a yaw rate.

FIGS. 11 and 12athrough12dshow schematic views of a yaw rate sensor1according to an eighth specific embodiment of the present invention, the eighth specific embodiment essentially resembling the seventh specific embodiment shown inFIGS. 9 and 10athrough10d, first and second (driving) vibrations12,22here running parallel and antiparallel to second direction Y, while first and second Coriolis forces10′,20′ act parallel and antiparallel to first direction X. The yaw rate again runs perpendicularly to main plane of extent100and parallel to third direction Z. Electrode structures300are rotated by 90° in main plane of extent100accordingly. First and second (driving) vibrations12,22in the absence of the yaw rate are illustrated schematically inFIGS. 12aand12b, while first and second deflections of first and second Coriolis elements10,20are illustrated in the presence of a yaw rate inFIGS. 12cand12d.

FIG. 13shows a schematic view of a yaw rate sensor1according to a ninth specific embodiment of the present invention, the ninth specific embodiment essentially resembling the fifth specific embodiment shown inFIG. 7, but as in the seventh specific embodiment,FIG. 9illustrates first and second vibrations12,22parallel and antiparallel to first direction X, and first and second Coriolis forces10′,20′ are oriented parallel and antiparallel to second direction Y because the yaw rate is aligned perpendicularly to main plane of extent100.

FIG. 14shows a schematic partial view301in the area of rocker structure30′ of a yaw rate sensor1according to a tenth specific embodiment of the present invention, the tenth specific embodiment essentially resembling the ninth specific embodiment illustrated inFIG. 13, spring units42each having frame-shaped load-relief structures310, which are embodied as double-U springs in the present example.

FIGS. 15 and 16athrough16dshow schematic views of a yaw rate sensor1according to an eleventh specific embodiment of the present invention, the eleventh specific embodiment essentially resembling the seventh specific embodiment illustrated inFIGS. 9 and 10athrough10d, the yaw rate sensor having a deflecting frame320. Deflecting frame320forms an external and completely peripheral frame for yaw rate sensor1with respect to main plane of extent100. Deflecting frame320includes first and second frame parts330,350, each being C-shaped and designed with mirror symmetry with respect to a plane of symmetry360along second and third directions Y, Z, first frame part330being coupled by a first spring unit340to first drive frame13, and second frame part350being coupled to second drive frame23via a second spring unit345. First and second frame parts330,350are coupled to one another on their particular leg ends via additional first and additional second spring units370,380, preferably designed as U springs. In addition, first frame part330includes two stiff L elements390, each being coupled to the other in the area of first and second spring units340via third spring units400, L elements390each being connected in a rotationally elastic manner to substrate2in their corner areas410. First and second (driving) vibrations12,22in the absence of the yaw rate are illustrated schematically inFIGS. 16aand16b, whereasFIGS. 16cand16dillustrate the first and second deflections of first and second Coriolis elements10,20parallel and antiparallel to the second axis on the basis of first and second Coriolis forces10′,20′ in the presence of a yaw rate. Deflecting frame320results in a further increase in the distance between the frequency of the parallel drive mode (interference mode) and the frequency of the antiparallel drive mode, because spring units400as well as additional first and additional second units370,380suppress the interference mode, whereas the drive mode is not impaired.

FIG. 17shows a schematic top view of a yaw rate sensor1according to a twelfth specific embodiment of the present invention, the twelfth specific embodiment essentially resembling the third specific embodiment shown inFIG. 5, anchoring elements41each including two partial anchoring elements200,201anchored on substrate2and connected to one another by a spring coupling202. Spring elements42are each attached to spring coupling202centrally between two partial anchoring elements200,201. Such a structure functions as a load-relief structure. First and second Coriolis elements10, are also optionally coupled to one another by additional spring couplings203in the form of U springs to cancel a degeneration between a parallel drive mode and an antiparallel drive mode between first and second Coriolis elements10,20. First and second Coriolis elements10,20are also attached to substrate2via first and second mounting springs50,52, first mounting springs50being situated on a side of first Coriolis element10facing away from rocker structure30′, and second mounting springs52being situated on a side of second Coriolis element20facing away from rocker structure30′. First and second mounting springs50,52are designed here as U springs. First and second drive frames13,23are each designed in the form of bars, first and second Coriolis elements10,20being situated along first direction X between first and second drive frames13,23designed as bars. Spring element42here includes in particular the torsion spring, which is rotatable about torsion axis43.

FIG. 18shows a schematic top view of a yaw rate sensor1according to a thirteenth specific embodiment of the present invention, the thirteenth specific embodiment essentially resembling the twelfth specific embodiment shown inFIG. 18, spring couplings203not being situated between first and second Coriolis elements10,20but instead extending between first and second drive frames13,23to cancel a degeneration between parallel and antiparallel drive movements between first and second drive frames13,23.

FIG. 19shows a schematic top view of a yaw rate sensor1according to a fourteenth specific embodiment of the present invention, the fourteenth specific embodiment essentially resembling the twelfth and thirteenth specific embodiments shown inFIGS. 17 and 18, spring couplings203extending from first to second Coriolis elements10,20as well as from first to second drive frames13,23.

FIG. 20shows a schematic top view of a yaw rate sensor1according to a fifteenth specific embodiment of the present invention, the fifteenth specific embodiment essentially resembling the twelfth specific embodiment shown inFIG. 17, yaw rate sensor1having a deflecting frame320. Deflecting frame320includes first and second frame parts330,350, both being C-shaped and designed in mirror symmetry to one another with respect to a plane of symmetry360running along second and third directions Y, Z along torsion axis43, first frame part330being coupled to first drive frame13via first spring units340, and second frame350being coupled to second drive frame23via second spring units345. First and second frame parts330,350are coupled to one another on their particular leg ends via additional first and additional second spring units370,380, preferably designed as U springs. First frame part330includes a first opening205through which a first connecting bar206passes between first Coriolis element10and first drive frame13, while a second frame part350includes a second opening207through which a second connecting bar208runs between second Coriolis element20and second drive frame23. First and second drive frames13,23are thus situated outside of deflecting frame320, while first and second Coriolis elements10,20are situated within deflecting frame320in a plane parallel to main plane of extent100. Deflecting frame320is also attached via anchoring parts210in a spring-elastic mount and in particular is rotatably attached to substrate2. Due to this form of coupling of first and second drive frames13,23, a degeneration between parallel drive modes (interference mode) and antiparallel drive modes (useful mode) is canceled. This is achieved in particular by different stiffness values of additional first and additional second spring units370,380with respect to loading in the same direction (bending) and loading in the opposite direction (shearing).

FIG. 21shows a schematic top view of a yaw rate sensor1according to a sixteenth specific embodiment of the present invention, the sixteenth specific embodiment essentially resembling the fifteenth specific embodiment shown inFIG. 20, an additional rocker structure30″ in addition to rocker structure30′ being situated between first and second Coriolis elements10,20. Rocker structure30′ and additional rocker structure30″ are of the same design and are parallel to one another.

FIGS. 22aand22bshow a schematic sectional view and a schematic top view of a yaw rate sensor1according to a seventeenth specific embodiment of the present invention, the seventeenth specific embodiment essentially resembling the twelfth specific embodiment shown inFIG. 17, first and second mounting springs50,52being designed to be stiffer along third direction Z, so that first and second mounting springs50,52act as hinges for first and second Coriolis elements10,20. In the presence of a Coriolis force acting on first and second Coriolis elements10,20along third direction Z, first and second Coriolis elements10,20are pivoted in the direction of substrate2or in the opposite direction. This is illustrated in the sectional view inFIG. 23ain particular. In addition, the movable bearing of first and second Coriolis elements10,20along first direction X is preferably not impaired.