Abstract: A method and a corresponding electronic control system for ascertaining a distance traveled by a vehicle predicts with a Kalman filter a distance traveled by the vehicle using a change in angle of rotation of at least one right wheel and/or at least one left wheel of the vehicle for a specific period of time while the vehicle is traveling and an ascertained radius of the right wheel and/or ascertained circumference of the right wheel of the vehicle and/or an ascertained radius of the left wheel and/or ascertained circumference of the left wheel of the vehicle; and corrects the predicted traveled distance by a Kalman filter correction to ascertain the distance traveled by the vehicle using the predicted traveled distance and a local distance between at least two absolute positions of the vehicle recorded within the specific period of time with a time interval while the vehicle is traveling.

Abstract: A method for calibrating a yaw rate sensor of a vehicle, comprises detecting a yaw rate of the vehicle from measurement data from the yaw rate sensor. A change in yaw angle is ascertained from sensor data from at least one optical surroundings sensor unit, wherein an offset of the yaw rate sensor is ascertained, the offset being ascertained by fusion of the detected yaw rate and the ascertained change in yaw angle. The yaw rate sensor is calibrated according to the ascertained offset.

Abstract: A method for determining the direction of travel of a vehicle comprises providing a first sensor for measuring a longitudinal acceleration of the vehicle and at least one second sensor for establishing the rotational movement of a wheel of the vehicle, An acceleration signal containing acceleration information from the first sensor is received by the system. The acceleration signal is filtered resulting in a modified acceleration signal. The direction of travel of the vehicle is determined based on the modified acceleration signal and based on the output signal of the second sensor.

Abstract: A method for determining the direction of travel of a vehicle comprises providing a first sensor for measuring a longitudinal acceleration of the vehicle and at least one second sensor for establishing the rotational movement of a wheel of the vehicle, An acceleration signal containing acceleration information from the first sensor is received by the system. The acceleration signal is filtered resulting in a modified acceleration signal. The direction of travel of the vehicle is determined based on the modified acceleration signal and based on the output signal of the second sensor.