METHODS FOR ESTIMATING THE ROLL ANGLE AND PITCH ANGLE OF A TWO-WHEELED VEHICLE, SYSTEM AND A COMPUTER PROGRAM TO PERFORM THE METHODS

摘要

Methods for determining the roll angle and pitch angle of a two-wheeled vehicle wherein the roll angle is measured in relation to the gravitational field. The invention is based on dynamic parameters detected by means of inertial sensors, for example accelerometers and rate gyros. The general sensor fusion approach requires a parameter that indicates the lateral acceleration of the vehicle. In a further development of the invention the lateral acceleration is combined with a parameter indicating the velocity of the vehicle. Advantageous embodiments of the invention comprise an adaptive filter in the shape of a Kalman filter. The yaw rate can also be generated as an addition sensor signal to achieve higher performance.