| 摘要 |
<p>The invention provides an apparatus for measuring the yaw rate of a vehicle, comprising means for measuring the velocity of the vehicle (1), means for measuring the lateral acceleration of the vehicle (2) and means for measuring the steering angle of the vehicle (3), correction means (4) and a yaw gyrometer (5). The correction means (4) acts to remove bias errors from the output of the yaw gyrometer (5). The correction means (4) estimates the bias errors when the velocity of the vehicle is zero (or within a tolerance of zero) or when both the steering angle of the vehicle is zero (or within a tolerance of zero) and the lateral acceleration of the vehicle (or within a tolerance of zero).</p> |
