Patent ID: 8463499

Claim:
A method of controlling a vehicle, the method comprising: determining whether the vehicle is moving or not; providing a first yaw value obtained using an output of a yaw sensor of the vehicle; providing a second yaw value obtained using an output of a steering angle sensor of the vehicle and an output value of a lateral acceleration sensor of the vehicle, wherein the second yaw value is an average value of a third yaw value and a fourth yaw value, wherein the third yaw value is obtained using the output value of the steering angle sensor of the vehicle, wherein the fourth yaw value is obtained using the output value of a lateral acceleration sensor of the vehicle; determining whether the vehicle is moving in a forward or backward direction, wherein the vehicle is determined moving in the forward direction when both the first and second yaw values are greater than or when both the first and second yaw values are smaller than zero, wherein the vehicle is determined moving in the backward direction when one of the first and second yaw values is greater than zero and the other is smaller than zero; and controlling at least one apparatus of the vehicle using the determination the vehicle's movement in the forward or backward direction.