Method for Detecting the Standstill of a Vehicle

Abstract

A method for detecting a standstill of a vehicle includes detecting the standstill of the vehicle using at least one sensor, and, when the standstill is detected using the at least one sensor, carrying out a test routine for checking the standstill of the vehicle. The test routine uses at least one signal from at least one rate-of-rotation sensor as an input value. The method further includes rejecting the detected standstill of the vehicle when the at least one signal from the at least one rate-of-rotation sensor indicates that there is no standstill of the vehicle.

Claims

1. A method for detecting a standstill of a vehicle, comprising: detecting the standstill of the vehicle using at least one sensor; when the standstill is detected using the at least one sensor, carrying out a test routine for checking the standstill of the vehicle, wherein the test routine uses at least one signal from at least one rate-of-rotation sensor as an input value; and rejecting the detected standstill of the vehicle when the at least one signal from the at least one rate-of-rotation sensor indicates that there is no standstill of the vehicle.

2. The method according to claim 1, wherein the test routine includes assessing a variance of the at least one signal from the at least one rate-of-rotation sensor.

3. The method according to claim 2, wherein it is detected that there is no standstill when the variance of the at least one signal from the at least one rate-of-rotation sensor exceeds a threshold value.

4. The method according to claim 1, wherein the test routine is carried out in order to detect when the vehicle is positioned on a turntable and is moved with the turntable.

5. The method according to claim 1, wherein the at least one signal from the at least one rate-of-rotation sensor is captured in a manner integrated in a predefinable integration window to form an integrated signal.

6. The method according to claim 5, wherein the standstill of the vehicle is determined during the test routine when the integrated signal from the at least one rate-of-rotation sensor is below a predefinable threshold value.

7. The method according to claim 1, wherein the at least one rate-of-rotation sensor is a yaw rate sensor.

8. The method according to claim 1, further comprising: pre-correcting an offset of the at least one rate-of-rotation sensor using a filter.

9. The method according to claim 8, further comprising: pre-correcting the offset of the at least one rate-of-rotation sensor based on a weighted difference and a weighted variance of an output signal.

10. The method according to claim 9, further comprising: calibrating inertial sensors of the vehicle when it is confirmed based on the at least one signal from the at least one rate-of-rotation sensor that there is a standstill of the vehicle.

11. The method according to claim 1, wherein a computer program is configured to carry out the method.

12. The method according to claim 11, wherein the computer program is stored on a non-transitory machine-readable storage medium.

13. The method according to claim 1, wherein a control unit for the vehicle is configured to carry out the method.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0057] The solution presented here and its technical environment are explained in more detail below with reference to the figure. It should be pointed out that the invention is not intended to be restricted by the exemplary embodiments shown. In particular, unless explicitly described otherwise, it is also possible to extract partial aspects of the substantive matter explained in the figure and to combine them with other elements and/or knowledge from other figures and/or the present description. Schematically:

[0058] The figure shows a sequence of a method presented here for detecting the standstill of a vehicle during a normal operating sequence.

DETAILED DESCRIPTION

[0059] The figure schematically shows a sequence of a method presented here for detecting the standstill of a vehicle during a normal operating sequence. The illustrated order of method steps a), b) and c) with the blocks 110, 120, 130 is only exemplary. In block 110, a standstill of the vehicle is detected using at least one sensor. In block 120, a test routine for checking the standstill of the vehicle is carried out if a standstill was detected in step a), wherein this routine uses at least one signal from at least one rate-of-rotation sensor as input values. In block 130, a standstill of the vehicle detected in step a) is rejected if it is detected in step b) on the basis of the signal from the at least one rate-of-rotation sensor that there is no standstill.

[0060] In particular, method step b) comprises at least one of the following test routines: (i) pre-correcting the offset of the at least one rate-of-rotation sensor by means of a filter, wherein the rate-of-rotation sensor uses a pre-corrected signal of high quality as input values, (ii) integrating the signal (after pre-correcting the offset) in a predefinable integration time window, and (iii) checking the standstill detected in step a) on the basis of the integrated (pre-corrected) signal from the at least one rate-of-rotation sensor.

[0061] In particular, in method step b), a pre-corrected yaw rate signal from at least one yaw rate sensor is used as an input value. The pre-corrected yaw rate signal is integrated in an integration window as the basis for checking the standstill.

[0062] The described method makes it possible to avoid, in particular, the situation in which a vehicle positioned on a rotating vehicle turntable is detected as a standstill.