YAW RATE SIGNAL OFFSET CALCULATION

摘要

The present invention relates to a method for calculating the offset of a yaw rate signal, wherein the method comprises the following steps: a. Observing the pinion angle signal p, the at least one wheel speed signal w, and the yaw rate signal y, for a time t; b. If the pinion angle speed signal p is below a threshold pmax, and the wheel speed signal w is below a threshold wmax, and the yaw rate signal y is below a threshold ymax, the start a waiting time t1; c. If after t1 the signals p, w and y are still below their thresholds, then start a calculation for a time t2 of the yaw rate offset yo, wherein the average yaw rate ya is acquired for a time t2; and d. If during t2 the signals p, w and y remain below their thresholds, then the average yaw rate ya is stored as yaw rate offset yo; e. If the signals p, w and y still remain below their thresholds, then proceed to step c, if at least one of the signals p, w and y exceeded the respective thresholds, then proceed to step a.