System for estimating vehicle conditions for rollover avoidance

摘要

A system for estimating vehicle states of a yaw rate of a roll rate of a roll angle and a lateral velocity, the system comprising: a steering angle sensor providing a steering angle signal (δ) of a steering angle of the vehicle (10); a yaw rate sensor (42) for providing a yaw rate signal (γ) of the yaw rate of the vehicle ( 10); a roll rate sensor (46) for providing a roll rate signal (p) of the roll rate of the vehicle (10); a speed sensor (40) for providing a speed signal (v) of the speed of the vehicle (10); a lateral acceleration sensor (44) for providing a lateral acceleration signal (a) of the lateral acceleration of the vehicle (10); a Kalman filter observer (52) which is responsive to the steering angle signal (δ), the yaw rate signal (γ), the roll rate signal (p), the speed signal (v) and the Transverse acceleration signal (a) responds, wherein the observer (52) uses a Kalman filtering to provide an estimated yaw rate signal, an estimated roll rate, an estimated roll angle, and an estimated lateral velocity; and a lateral speed estimation processor (54) responsive to the roll rate signal (p), the estimated roll angle, the estimated lateral velocity and the lateral acceleration signal (a), wherein the lateral velocity estimation processor (54) calculates a lateral velocity estimate signal when operating the vehicle (10) in a non-linear region A lateral speed estimation signal is modified as compared with a lateral speed estimation signal when the vehicle (10) is operated in a linear range.