METHOD OF DETERMINING A DIRECTIONAL CHANGE DURING VEHICLE NAVIGATION, APPARATUS FOR CARRYING OUT SUCH A METHOD, AND VEHICLE COMPRISING SUCH AN APPARATUS

摘要

A method of determining a directional change of a vehicle carries out dead-reckoning for which it utilizes sensors provided on two wheels. In order to compensate for differences betweeen the wheels, the method utilizes given parameters in processing the data from the wheel sensors. The invention provides an extension of the method by estimating the parameters during normal operation of the vehicle, so that they are adapted to changing circumstances encountered by the vehicle. Estimation is performed by comparing data from the wheel sensors with independently determined directional data for a given period of time.