Abstract: The invention relates to a device for determining a rotational speed about the vertical axis of a vehicle, comprising a rotational speed sensor which outputs a signal which is dependent on the rotational speed about the vertical axis, and a signal evaluation means which determines the rotational speed from the signal supplied by the rotational speed sensor. According to the invention, a radiation sensor is provided for sensing an angle of a preceding vehicle located in the region ahead of the vehicle relative to the vehicle, the data from the radiation sensor being supplied to the signal evaluation means in order to sense the angle and being taken into account in the compensation of the offset error of the rotational speed sensor.

Abstract: The present invention relates to a method for correction of a signal which is derived from wheel rotation speed signals and represents the vehicle speed, wherein the vehicle has a device by means of which the environment of the vehicle can be identified, and wherein the correction of the signal which is derived from the wheel rotation speeds and represents the vehicle speed is carried out on the basis of the speed at which objects in the environment which are identified as being stationary move relative to the vehicle.

Abstract: The present invention relates to a method for correction of a signal of at least one sensor, on the basis of which a path curve can be determined, on which the vehicle is moving, with the vehicle having a device by means of which the environment of the vehicle can be identified, and with the correction of the signal of the at least one sensor being carried out in that, at at least one point in time, the object location expected at at least one further point in time of an object which is identified as being stationary is determined on the basis of the vehicle speed and of the signal of the at least one sensor, and in that, at the at least one further point in time, the object location of the object which is identified as being stationary is recorded, with a correction of the signal of the at least one sensor being carried out on the basis of the discrepancy between the expected object location and the recorded object location.