Yaw rate sensor bias estimation
An example yaw rate related method includes: obtaining a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and determining a yaw rate sensor bias estimate for the yaw rate sensor based on at least one of the plurality of measurements of yaw rate in response to: a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle; or a determination that the vehicle is stationary.
1 . A yaw rate related method comprising:
obtaining a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and
determining a yaw rate sensor bias estimate for the yaw rate sensor based on at least a first one of the plurality of measurements of yaw rate in response to:
a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle and at least a second one of the plurality of measurements of yaw rate being indicative of straight-line movement of the vehicle.
2 . The yaw rate related method of claim 1 , wherein determining the yaw rate sensor bias estimate for the yaw rate sensor comprises determining that yaw rate measurement residuals are below one or more respective residual thresholds.
3 . The yaw rate related method of claim 1 , further comprising providing a yaw rate indication that comprises at least one of the at least a first one of the plurality of measurements of yaw rate with the yaw rate sensor bias estimate removed.
4 . The yaw rate related method of claim 1 , wherein the vehicle is an autonomous vehicle and the yaw rate related method further comprises disabling a blind stop function of the autonomous vehicle based on a yaw rate sensor bias estimate covariance exceeding an accuracy threshold.
5 . The yaw rate related method of claim 4 , further comprising determining the accuracy threshold based on a speed of the autonomous vehicle.
6 . The yaw rate related method of claim 1 , further comprising determining that the plurality of indications of location of the vehicle are indicative of straight-line movement of the vehicle by determining that a ratio of orthogonal standard deviations of the plurality of indications of location of the vehicle is less than a straight-line threshold.
7 . A device comprising:
one or more memories; and
one or more processors communicatively coupled to the one or more memories and configured to:
obtain a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and
determine a yaw rate sensor bias estimate for the yaw rate sensor based on at least a first one of the plurality of measurements of yaw rate in response to:
a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle and at least a second one of the plurality of measurements of yaw rate being indicative of straight-line movement of the vehicle.
8 . The device of claim 7 , wherein to determine the yaw rate sensor bias estimate for the yaw rate sensor the one or more processors are configured to determine that yaw rate measurement residuals are below a residual threshold.
9 . The device of claim 7 , wherein the one or more processors are configured to provide a yaw rate indication that comprises at least one of the at least a first one of the plurality of measurements of yaw rate with the yaw rate sensor bias estimate removed.
10 . The device of claim 7 , wherein the vehicle is an autonomous vehicle and the one or more processors are further configured to disable a blind stop function of the autonomous vehicle based on a yaw rate sensor bias estimate covariance exceeding an accuracy threshold.
11 . The device of claim 10 , wherein the one or more processors are configured to determine the accuracy threshold based on a speed of the autonomous vehicle.
12 . The device of claim 7 , wherein the one or more processors are configured to determine that the plurality of indications of location of the vehicle are indicative of straight-line movement of the vehicle by determining that a ratio of orthogonal standard deviations of the plurality of indications of location of the vehicle is less than a straight-line threshold.
13 . A device comprising:
a yaw rate sensor configured to provide a plurality of measurements of yaw rate of a vehicle; and
means for determining a yaw rate sensor bias estimate for the yaw rate sensor based on at least a first one of the plurality of measurements of yaw rate in response to:
a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle and at least a second one of the plurality of measurements of yaw rate being indicative of straight-line movement of the vehicle.
14 . The device of claim 12 , wherein the means for determining the yaw rate sensor bias estimate for the yaw rate sensor comprise means for determining that yaw rate measurement residuals are below a residual threshold.
15 . The device of claim 13 , further comprising means for providing a yaw rate indication that comprises at least one of the at least a first one of the plurality of measurements of yaw rate with the yaw rate sensor bias estimate removed.
16 . The device of claim 13 , wherein the vehicle is an autonomous vehicle and the device further comprises means for disabling a blind stop function of the autonomous vehicle based on a yaw rate sensor bias estimate covariance exceeding an accuracy threshold.
17 . The device of claim 16 , further comprising means for determining the accuracy threshold based on a speed of the autonomous vehicle.
18 . The device of claim 13 , further comprising means for determining that the plurality of indications of location of the vehicle are indicative of straight-line movement of the vehicle by determining that a ratio of orthogonal standard deviations of the plurality of indications of location of the vehicle is less than a straight-line threshold.
19 . A non-transitory, processor-readable storage medium comprising processor-readable instructions to cause one or more processors to:
obtain a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and
determine a yaw rate sensor bias estimate for the yaw rate sensor based on at least a first one of the plurality of measurements of yaw rate in response to:
a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle and at least a second one of the plurality of measurements of yaw rate being indicative of straight-line movement of the vehicle.
20 . The non-transitory, processor-readable storage medium of claim 19 , wherein the processor-readable instructions to cause the one or more processors to determine the yaw rate sensor bias estimate for the yaw rate sensor comprise processor-readable instructions to cause the one or more processors to determine that yaw rate measurement residuals are below a residual threshold.
21 . The non-transitory, processor-readable storage medium of claim 19 , further comprising processor-readable instructions to cause the one or more processors to provide a yaw rate indication that comprises at least one of the at least a first one of the plurality of measurements of yaw rate with the yaw rate sensor bias estimate removed.
22 . The non-transitory, processor-readable storage medium of claim 19 , wherein the vehicle is an autonomous vehicle and the non-transitory, processor-readable storage medium further comprises processor-readable instructions to cause the one or more processors to disable a blind stop function of the autonomous vehicle based on a yaw rate sensor bias estimate covariance exceeding an accuracy threshold.
23 . The non-transitory, processor-readable storage medium of claim 22 , further comprising processor-readable instructions to cause the one or more processors to determine the accuracy threshold based on a speed of the autonomous vehicle.
24 . The non-transitory, processor-readable storage medium of claim 19 , further comprising processor-readable instructions to cause the one or more processors to determine that the plurality of indications of location of the vehicle are indicative of straight-line movement of the vehicle by determining that a ratio of orthogonal standard deviations of the plurality of indications of location of the vehicle is less than a straight-line threshold.