Vehicle rollover sensing using extended kalman filter

Details Vehicle rollover sensing using extended kalman filter Vehicle rollover sensing using extended kalman filter

1998-02-06

1999-12-14

Cuchlinski, Jr., William A.

Data processing: vehicles, navigation, and relative location

Vehicle control, guidance, operation, or indication

Vehicle subsystem or accessory control

701110, 701 45, 701 38, 340440, 280756, 180252, B60G 1700

Patent

active

060029749

ABSTRACT:
A rollover sensing apparatus and method are provided for predicting rollover or pitchover conditions of a vehicle. The apparatus and method sense 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, estimates a current roll angle and a current pitch angle as a function of the sensed signals. A predictor 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 is output to indicate a predicted vehicle rollover or pitchover condition.

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Steiner, Wiedel, Kublbeck, Steurer, Hora, "Roll Over Detection", SAE Technical Papers, Feb. 24-27, 1997, ppl. 45-49.
P.E.M. Frere, "Problems of Using Accelerometers to Measure Angular Rate in Automobiles", Sensors and Accuators A. 25-27, 1991, pp. 821-824.

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