| 摘要 |
A method for detecting a turning of a vehicle is provided to prevent an erroneous calibration of a yaw rate sensor by determining an offset calibration timing based on a soft turning state. When a vehicle runs in a straight line, it is determined whether a measured yaw rate from a yaw rate sensor is within a predetermined offset calibration range(S100-S102). When the measured yaw rate is within the offset calibration range, a counter is started, when only one direction is measured for a predetermined interval. Then, it is determined whether the counted result is greater than a predetermined value(S103-S107). When the counted result is greater than the predetermined value, a soft turning is recognized and an offset calibration of the yaw rate sensor is postponed(S108). When a soft turning release condition is satisfied, the offset calibration process for the yaw rate sensor is performed(S109-S111).
|
