Roll over detection for an automotive vehicle

• US 6,332,104 B1
• Filed: 12/21/1999
• Issued: 12/18/2001
• Est. Priority Date: 12/21/1999
• Status: Expired due to Term

• Current Assignee: Ford Motor Company
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Brown, Todd Allen, Rhode, Douglas Scott
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/468,236
• Time in Patent Office: 728 Days
• Field of Search: 701/1, 701/38, 701/41, 701/45, 280/755, 296/190.03, 180/282, 180/271, 180/283, 340/440, 340/429
• US Class Current: 701/1
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60G 2800/9124 Roll-over protection systems, e.g. for warning or control
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60R 2021/0018 Roll-over
• CPC Class Codes: B60R 2021/01306 monitoring vehicle inclination
• CPC Class Codes: B60R 2021/01313 monitoring the vehicle steering system or the dynamic control system
• CPC Class Codes: B60R 2021/01327 Angular velocity or angular acceleration
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

A stability control system 24 for an automotive vehicle as includes a plurality of sensors 28-37 sensing the dynamic conditions of the vehicle and a controller 26 that controls a distributed brake pressure to reduce a tire moment so the net moment of the vehicle is counter to the roll direction. The sensors include a speed sensor 30, a lateral acceleration sensor 32, a roll rate sensor 34, and a yaw rate sensor 20. The controller 26 is coupled to the speed sensor 30, the lateral acceleration sensor 32, the roll rate sensor 34, the yaw rate sensor 28. The controller 26 determines a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate. The controller 26 may ultimately be used to determine a tire force vector such as brake pressure distribution or a steering angle change in response to the relative roll angle estimate.

Claims

1. A rollover detection system for a vehicle rollover comprising:

a speed sensor;

a lateral acceleration sensor;

a roll rate sensor;

a yaw rate sensor; and

a controller coupled to said speed sensor, said lateral acceleration sensor, said roll rate sensor, said yaw rate sensor, said controller determining a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate, said controller determining, roll rate in response to a raw roll rate signal and a roll rate offset.

2. A system as recited in claim 1 further comprising a sensor selected from the group of a steering angle sensor, a longitudinal acceleration sensor and a pitch rate sensor.

3. A system as recited in claim 2 wherein said controller determines vehicle speed at a center of gravity of the vehicle in response to said steering angle and said steering sensor.

4. A method of determining roll over of a vehicle comprising:

determining a yaw rate for the vehicle;

determining a roll rate for the vehicle in response to a raw roll rate signal and a roll rate offset;

determining a lateral acceleration for the vehicle;

determining vehicle speed; and

determining a vehicle roll rate in response to yaw rate, roll rate, lateral acceleration and vehicle speed.

6. A method as recited in claim 4 further comprising the step of determining vehicle speed at the center of gravity of the vehicle as a function of a front right wheel speed, a rear right wheel speed, a front left wheel speed, a rear left wheel speed, and a steering wheel angle.

5. A method of determining roll over of a vehicle comprising:

determining a yaw rate for the vehicle in response to a yaw rate signal and a yaw rate offset;

determining a roll rate for the vehicle;

determining a lateral acceleration for the vehicle;

determining vehicle speed; and

determining a vehicle roll rate in response to yaw rate, roll rate, lateral acceleration and vehicle speed.

7. A method of determining roll over of a vehicle comprising:

determining a yaw rate far the vehicle;

determining a roll rate for the vehicle;

determining a lateral acceleration for the vehicle;

determining vehicle speed at the center of gravity of the vehicle as a function of body slip angle; and

determining a vehicle roll rate in response to yaw rate, roll rate, lateral acceleration and vehicle speed.

8. A rollover detection system for a vehicle rollover comprising;

a speed sensor;

a lateral acceleration sensor;

a roll rate sensor;

a yaw rate sensor,

a steering angle sensor;

a longitudinal acceleration sensor;

a pitch rate sensor; and

a controller coupled to said speed sensor, said lateral acceleration sensor, said roll rate sensor, said yaw rate sensor, a steering angle sensor, a longitudinal acceleration sensor and a pitch rate sensor, said controller determining a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, yaw rate, steering angle, longitudinal acceleration and pitch rate, said controller determining roll rate in response to a raw roll rate signal and a roll rate offset.

9. A system as recited in claim 8 wherein said controller determines vehicle speed at a center of gravity of the vehicle in response to said steering angle and said steering sensor.