YAW RATE CALIBRATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a yaw rate calibration device for calibrating the zero point of a yaw rate sensor only by a normative yaw rate calibration method in the traveling state of a vehicle.

SOLUTION: A yaw rate calibration device 100A includes: a steering direction determination part 15 for determining a steering direction; a vehicle speed arithmetic part 19; a straight traveling state determination part 12A; a steering angle storage part 13A for storing a steering angle θHwhen a vehicle is determined to be in the straight traveling state; a steering angle detection insensitive area arithmetic part 14A for performing the arithmetic operation of the insensitive area of a steering angle sensor SHAbased on the distribution of the values of the steering angle θHstored in the steering angle storage part 13A; a steering angle correction part 16 for correcting the steering angle θHbased on the insensitive area and the steering direction determined by the steering direction determination part 15; and a yaw rate offset quantity arithmetic part 17 and a yaw rate zero point correction part 18 for calibrating the zero point of a yaw rate γ based on steering angle/yaw rate characteristic data 104b and the corrected steering angle θCHand a vehicle speed VS.

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