Estimation of vehicle roll angle, lateral velocity and side slip angle for the purpose of crash sensing is considered. Only roll rate sensor and the sensors readily available in vehicles equipped with ESC (Electronic Stability Control) systems are used in the estimation process. The algorithms are based on kinematic relationships, thus avoiding dependence on vehicle and tire models, which minimizes tuning efforts and sensitivity to parameter variations.The estimate of roll angle is obtained by blending two preliminary estimates, each valid in different conditions, in such a manner that the final estimate continuously favors the more accurate one. The roll angle estimate is used to compensate the gravity component in measured lateral acceleration due to vehicle roll or road bank angle. This facilitates estimation of lateral velocity and side slip angle from fundamental kinematic relationships involving the gravity-compensated lateral acceleration, yaw rate and longitudinal velocity. The results of simulations and vehicle tests in a variety of maneuvers demonstrate accuracy of the proposed estimation methods and the use of side slip information in rollover discrimination.
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