Vehicle rollover sensing using extended kalman filter
First Claim
1. A rollover sensing apparatus for predicting an overturn condition for a vehicle, comprising:
- an angular roll rate sensor for sensing roll rate of a vehicle and producing an output signal indicative thereof;
an angular pitch rate sensor for sensing pitch rate of the vehicle and producing an output signal indicative thereof;
a longitudinal accelerometer for measuring longitudinal acceleration of the vehicle and producing an output signal indicative thereof;
a lateral accelerometer for measuring lateral acceleration of the vehicle and producing an output signal indicative thereof;
a vertical accelerometer for measuring vertical acceleration of the vehicle and producing an output signal indicative thereof;
a non-linear filter for receiving said signals from said angular roll rate and pitch rate sensors, and said longitudinal, lateral, and vertical accelerometers, and for estimating a roll angle and a pitch angle as a function of said received signals;
a predictor for predicting a future roll angle as a function of said estimated roll angle and said sensed roll rate, and for predicting a future pitch angle as a function of said estimated pitch angle and said sensed pitch rate;
a comparator for comparing each of said predicted roll and pitch attitude angles to a threshold value; and
an output for deploying a vehicle overturn condition output based on said comparison.
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Accused Products
Abstract
A rollover sensing apparatus and method are provided for predicting rollover or pitchover conditions of a vehicle. The apparatus and method sense angular roll rate, angular pitch rate, longitudinal acceleration, lateral acceleration, and vertical acceleration of the vehicle and produce output signals indicative thereof. A non-linear filter, such as an extended Kalman filter, estimates a current roll angle and a current pitch angle as a function of the sensed signals. A predictor predicts a future roll angle as a function of the estimated current roll angle and the sensed roll rate, and further predicts a future pitch angle as a function of the estimated current pitch angle and the sensed pitch rate. The predicted roll and pitch attitude angles are compared to a threshold value and a vehicle overturn condition signal is output to indicate a predicted vehicle rollover or pitchover condition.
191 Citations
22 Claims
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1. A rollover sensing apparatus for predicting an overturn condition for a vehicle, comprising:
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an angular roll rate sensor for sensing roll rate of a vehicle and producing an output signal indicative thereof; an angular pitch rate sensor for sensing pitch rate of the vehicle and producing an output signal indicative thereof; a longitudinal accelerometer for measuring longitudinal acceleration of the vehicle and producing an output signal indicative thereof; a lateral accelerometer for measuring lateral acceleration of the vehicle and producing an output signal indicative thereof; a vertical accelerometer for measuring vertical acceleration of the vehicle and producing an output signal indicative thereof; a non-linear filter for receiving said signals from said angular roll rate and pitch rate sensors, and said longitudinal, lateral, and vertical accelerometers, and for estimating a roll angle and a pitch angle as a function of said received signals; a predictor for predicting a future roll angle as a function of said estimated roll angle and said sensed roll rate, and for predicting a future pitch angle as a function of said estimated pitch angle and said sensed pitch rate; a comparator for comparing each of said predicted roll and pitch attitude angles to a threshold value; and an output for deploying a vehicle overturn condition output based on said comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for estimating a current attitude angle of a vehicle comprising:
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an angular roll rate sensor for measuring roll rate of a vehicle and producing an output signal indicative thereof; an angular pitch rate sensor for measuring pitch rate of the vehicle and producing an output signal indicative thereof; a longitudinal accelerometer for measuring longitudinal acceleration of the vehicle and producing an output signal indicative thereof; a lateral accelerometer for measuring lateral acceleration of the vehicle and producing an output signal indicative thereof; a vertical accelerometer for measuring vertical acceleration of the vehicle and producing an output signal indicative thereof; and a non-linear filter for receiving signals from said angular roll rate and pitch rate sensors and said longitudinal, lateral, and vertical accelerometers, and said non-linear filter estimating a roll angle and a pitch angle based on said received signals. - View Dependent Claims (9, 10, 11)
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12. A method for predicting an overturn condition of a vehicle, said method comprising the steps of:
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sensing angular roll rate of a vehicle and producing an output signal indicative thereof; sensing angular pitch rate of the vehicle and producing an output signal indicative thereof; sensing longitudinal acceleration of the vehicle and producing an output signal indicative thereof; sensing lateral acceleration of the vehicle and producing an output signal indication thereof; sensing vertical acceleration of the vehicle and producing an output signal indicative thereof; estimating a roll angle and a pitch angle with a non-linear filter as a function of said sensed angular roll and pitch rates and said sensed longitudinal, lateral, and vertical accelerations; predicting a roll angle based on said estimated roll angle and said sensed roll rate; predicting a pitch angle based on said estimated pitch angle and said sensed pitch rate; comparing said predicted roll angle to a roll threshold value; comparing said predicted pitch angle to a pitch threshold value; and deploying a vehicle overturn condition signal based on either of said comparisons. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A method of estimating a current attitude angle of a vehicle, said method comprising the steps of:
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sensing angular roll rate of a vehicle and producing an output signal indicative thereof; sensing angular pitch rate of the vehicle and producing an output signal indicative thereof; sensing longitudinal acceleration of the vehicle and producing an output signal indicative thereof; sensing lateral acceleration of the vehicle and producing an output signal indicative thereof; sensing vertical acceleration of the vehicle and producing an output signal indicative thereof; and estimating a roll angle and a pitch angle with a non-linear filter as a function of said sensed angular roll and pitch rates and said sensed longitudinal, lateral, and vertical accelerations. - View Dependent Claims (20, 21, 22)
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Specification