based on an extended kalmanfilter u00fcberrollsensierung for motor vehicles

摘要

A rollover sensing apparatus (10) and method (270) are provided for predicting rollover or pitchover conditions of a vehicle. The apparatus and method sense (286) 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 (102), estimates a current roll angle and a current pitch angle as a function of the sensed signals. A predictor (116 and 118) 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 (50 or 52) is output to indicate a predicted vehicle rollover or pitchover condition.