Roll angle plausibility
First Claim
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1. A method of detecting a vehicle roll angle, comprising:
- (a) receiveing output signals indicative of a roll rate, a vertical acceleration, a lateral acceleration, a longitudinal acceleration, a yaw rate and a pitch rate of a vehicle;
(b) estimating a current roll angle; and
(c) predicting a future roll angle in response to the estimate of the current roll angle and the output signals communicated from said step (a).
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Abstract
A vehicle safety system (20) includes a controller (24) that predicts a roll angle in response to output signals communicated to the controller (24) from each of a roll rate sensor (26), a lateral accelerometer (30), a vertical accelerometer (32), a longitudinal accelerometer (34), a yaw rate sensor (36) and a pitch rate sensor (38). The controller (24) includes a Kalman Filter to estimate a current vehicle roll angle.
20 Citations
20 Claims
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1. A method of detecting a vehicle roll angle, comprising:
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(a) receiveing output signals indicative of a roll rate, a vertical acceleration, a lateral acceleration, a longitudinal acceleration, a yaw rate and a pitch rate of a vehicle;
(b) estimating a current roll angle; and
(c) predicting a future roll angle in response to the estimate of the current roll angle and the output signals communicated from said step (a). - View Dependent Claims (2, 3, 4)
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5. A method of detecting a vehicle roll angle, comprising:
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(a) determining a roll rate, a vertical acceleration, a lateral acceleration, a longitudinal acceleration, a yaw rate and a pitch rate;
(b) determining a bias estimate of the roll rate, a bias estimate of the vertical acceleration, a bias estimate of the lateral acceleration, a bias estimate of the longitudinal acceleration, a bias estimate of the yaw rate and a bias estimate of the pitch rate;
(c) determining a bias corrected roll rate in response to the roll rate and the bias estimate of the roll rate;
(d) determining a roll acceleration;
(e) estimating a current roll angle in response to the bias corrected roll rate, a bias corrected vertical acceleration, a bias corrected lateral acceleration and a bias corrected longitudinal acceleration; and
(f) predicting a roll angle in response to the bias corrected roll rate, the roll acceleration and the estimated current roll angle. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for detecting a vehicle roll angle, comprising:
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at least one roll rate sensor;
at least one accelerometer;
a yaw rate sensor and a pitch rate sensor; and
a controller that predicts a future roll angle in response to signals communicated to said controller from each of said roll rate sensor, said at least one accelerometer, said yaw rate sensor and said pitch rate sensor, wherein said controller includes a Kalman Filter that estimates a current roll angle. - View Dependent Claims (17, 18, 19, 20)
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Specification