Vehicle anti-rollover monitor using kinetic energy and lateral acceleration
First Claim
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1. A method for estimating a propensity of a vehicle to rollover, the method comprising the steps of:
- determining a lateral kinetic energy of said vehicle in response to a vehicle longitudinal velocity and a vehicle side slip angle;
measuring a lateral acceleration of said vehicle;
calculating a minimum potential energy of said vehicle require for rollover;
determining a rollover potentiality index in response to said lateral kinetic energy, said minimum potential energy, and said lateral acceleration; and
providing a control action to counteract an anticipated rollover in response to said rollover potentiality index.
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Abstract
A method is provided for detecting a rollover event of a vehicle. A lateral kinetic energy of the vehicle is determined in response to vehicle longitudinal velocity and vehicle side slip angle. A lateral acceleration of the vehicle is measured. A rollover potentiality index is determined in response to the lateral kinetic energy and the lateral acceleration. A rollover index is determined by weighting the rollover potentiality index by a factor of the lateral acceleration. A comparison is made to determine if the rollover index is above a predetermined threshold.
32 Citations
30 Claims
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1. A method for estimating a propensity of a vehicle to rollover, the method comprising the steps of:
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determining a lateral kinetic energy of said vehicle in response to a vehicle longitudinal velocity and a vehicle side slip angle; measuring a lateral acceleration of said vehicle; calculating a minimum potential energy of said vehicle require for rollover; determining a rollover potentiality index in response to said lateral kinetic energy, said minimum potential energy, and said lateral acceleration; and providing a control action to counteract an anticipated rollover in response to said rollover potentiality index.
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2. A method for detecting a rollover event of a vehicle, the method comprising the steps of:
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determining a lateral kinetic energy of said vehicle in response to a vehicle longitudinal velocity and a vehicle side slip angle; measuring a lateral acceleration of said vehicle; determining a rollover potentiality index in response to said lateral kinetic energy and said lateral acceleration; determining a rollover index by weighting said rollover potentiality index by a factor of said lateral acceleration; determining if said rollover index is above a predetermined threshold; detecting said rollover event in response to said rollover index being above said predetermined threshold; providing a control action to counteract an anticipated rollover in response to said rollover potentiality index. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for estimating a propensity of a vehicle to rollover, the system comprising:
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at least one wheel sensor for measuring the vehicle longitudinal velocity; a yaw rate sensor; a lateral acceleration sensor; a steering wheel sensor; a vehicle specific dynamic model; and a controller for determining a side slip angle and for determining a rollover potentiality index in response to weighting said rollover potentiality index by a factor of a measured lateral acceleration for determining a rollover index, said rollover index being indicative of said vehicle propensity to rollover, wherein a control action is generated in response to said rollover index for counteracting an anticipated rollover. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21. A method for detecting a rollover event of a vehicle, the method comprising the steps of:
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determining a lateral kinetic energy of said vehicle in response to a vehicle longitudinal velocity and a vehicle side slip angle; measuring a lateral acceleration of said vehicle; determining a rollover potentiality index in response to said lateral kinetic energy and said lateral acceleration; determining a rollover index by weighting said rollover potentiality index by a factor of said lateral acceleration; determining if said rollover index is above a predetermined threshold said rollover index being indicative of said vehicle propensity to rollover when above said predetermined threshold; and providing a control action to counteract an anticipated rollover in response to said rollover potentiality index being above a predetermined threshold; wherein said rollover potentiality index is represented by the formula; where Vx is said vehicle longitudinal velocity, β
is said vehicle side slip angle, g is a gravity constant, aym is said measured lateral acceleration, d is one half a vehicle track width, and h is a nominal center of gravity height.- View Dependent Claims (22)
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23. A system for estimating a propensity of a vehicle to rollover, the system comprising:
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at least one wheel sensor for measuring the vehicle longitudinal velocity; a yaw rate sensor, a lateral acceleration sensor; a steering wheel sensor; a vehicle specific dynamic model; and a controller for determining a side slip angle and for determining a rollover potentiality index in response to weighting said rollover potentiality index by a factor of a measured lateral acceleration for determining a rollover index, said rollover index being indicative of said vehicle propensity to rollover, and wherein a control action is generated in response to said rollover index for counteracting an anticipated rollover, wherein said rollover potentiality index is represented by the formula;
Φ
0=½
|Vxβ
|2−
√
{square root over (g2+aym2)}√
{square root over (d2+h2)}+daym+hg,where Vx is said vehicle longitudinal velocity, β
is said vehicle side slip angle, g is a gravity constants aym is said measured lateral acceleration, where d is one half a vehicle track width, and h is a nominal center of gravity height.- View Dependent Claims (24)
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25. A method for estimating a propensity of a vehicle to rollover, the method comprising the steps of:
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calculating a lateral kinetic energy of the vehicle; calculating a minimum potential energy of the vehicle required for rollover, said minimum potential energy calculation determined using sensed dynamic characteristics of the vehicle not including a vehicle roll angle sensor signal or a vehicle roll rate sensor signal; and determining a rollover potentiality index in response to said calculated lateral kinetic energy and said calculated minimum potential energy wherein said rollover potentiality index is identifiable with said vehicle propensity to rollover and is adaptable for identifying when to implement a control action for reduce said propensity of said vehicle to rollover. - View Dependent Claims (26, 27, 28)
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29. A method for estimating a propensity of a vehicle to rollover, the method comprising the steps of:
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providing a plurality of sensors for generating sensor signals representing dynamic characteristics of said vehicle including a lateral acceleration sensor but not including a vehicle roll angle sensor or a vehicle roll rate sensor; calculating a lateral kinetic energy of said vehicle using said sensor signals; calculating a minimum potential energy of said vehicle required for rollover using said sensor signals; determining a rollover potentiality index in response to said calculated lateral kinetic energy, said calculated minimum potential energy and a lateral acceleration signal; and implementing a control action to reduce said propensity of said vehicle to rollover in the event said rollover potentiality index is greater than a predetermined threshold.
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30. A method for estimating a propensity of a vehicle to rollover, the method comprising the steps of:
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calculating a lateral kinetic energy of said vehicle; measuring a lateral acceleration of said vehicle; calculating a minimum potential energy of said vehicle required for rollover; determining a rollover potentiality index in response to said calculated lateral kinetic energy and said calculated minimum potential energy; determining if said measured lateral acceleration is more than a predetermined percentage of a statically critical lateral acceleration; and determining whether said vehicle has a propensity to rollover in response to said rollover potentiality index and said determination of said measured lateral acceleration being more that said predetermined percentage of said statically critical lateral acceleration, said rollover potentiality index is identifiable with said vehicle propensity to rollover and is adaptable for identifying when to implement a control action for reducing said propensity of said vehicle to rollover.
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Specification