US 12,291,211 B2
Method for detecting the standstill of a vehicle
Sebastian Roith, Ludwigsburg (DE); Jens Strobel, Freiberg am Neckar (DE); and Manuel Popp, Abstatt (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jul. 21, 2022, as Appl. No. 17/814,068.
Claims priority of application No. 10 2021 207 893.1 (DE), filed on Jul. 22, 2021.
Prior Publication US 2023/0023080 A1, Jan. 26, 2023
Int. Cl. B60W 40/10 (2012.01)
CPC B60W 40/10 (2013.01) [B60W 2520/14 (2013.01); B60W 2554/4041 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A method for operating a vehicle, the method comprising:
detecting standstill of the vehicle using at least one sensor of the vehicle;
in response to the standstill being 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, the test routine including (i) pre-correcting an offset of the at least one rate-of-rotation sensor using a filter based on a weighted difference and a weighted variance of an output signal, (ii) forming an integrated signal by integrating at least one signal from at least one rate-of-rotation sensor in a predefined integration window, and (iii) determining the standstill of the vehicle in response to the integrated signal being below a predefined threshold value;
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; and
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, the inertial sensors including the at least one rate-of-rotation sensor;
determining a position of the vehicle using the inertial sensors; and
operating the vehicle based on the position of the vehicle.