公开(公告)号：US10730528B2

公开(公告)日：2020-08-04

申请号：US16087890

申请日：2017-03-16

Applicant: Robert Bosch GmbH

Inventor： Chengxuan Fu ,  Solomon Devakiruba Selvakumar

IPC: B60W40/114 ,  B60T8/1755 ,  B60W40/072 ,  G06K9/00 ,  B60W40/13

Abstract: A method for determining a safety-critical yawing motion of a vehicle includes comparing a specification signal representing an ascertained setpoint yaw rate of the vehicle for an anticipated trajectory of the vehicle to a measuring signal representing an instantaneous yaw rate of the vehicle measured based on an actual trajectory of the vehicle, thereby generating a comparison signal; checking whether an amplitude of the comparison signal exceeds a first threshold value and whether a frequency of the comparison signal exceeds a second threshold value; and, in response to the amplitude exceeding the first threshold and the frequency exceeding the second threshold, outputting a yawing-motion signal indicating presence of the safety-critical yawing motion of the vehicle.

公开(公告)号：US20190111936A1

公开(公告)日：2019-04-18

申请号：US16087890

申请日：2017-03-16

Applicant: Robert Bosch GmbH

Inventor： Chengxuan Fu ,  Solomon Devakiruba Selvakumar

IPC: B60W40/114 ,  B60W40/072 ,  G06K9/00

CPC classification number: B60W40/114 ,  B60T8/1755 ,  B60T2250/03 ,  B60T2260/024 ,  B60W40/072 ,  B60W2040/1346 ,  B60W2520/14 ,  B60W2720/14 ,  G06K9/00798

Abstract: A method for determining a safety-critical yawing motion of a vehicle includes comparing a specification signal representing an ascertained setpoint yaw rate of the vehicle for an anticipated trajectory of the vehicle to a measuring signal representing an instantaneous yaw rate of the vehicle measured based on an actual trajectory of the vehicle, thereby generating a comparison signal; checking whether an amplitude of the comparison signal exceeds a first threshold value and whether a frequency of the comparison signal exceeds a second threshold value; and, in response to the amplitude exceeding the first threshold and the frequency exceeding the second threshold, outputting a yawing-motion signal indicating presence of the safety-critical yawing motion of the vehicle.