INTEGRATED BANK AND ROLL ESTIMATION USING A THREE-AXIS INERTIAL-MEASURING DEVICE

摘要

A system, for use at a vehicle to estimate vehicle roll angle and road bank angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle roll rate, a processor; and a computer-readable medium. The medium includes instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle roll rate measured by the sensor, a vehicle roll rate. The operations also include estimating, using an observer and a measured vehicle roll rate, the vehicle roll angle, and estimating, based on the vehicle roll rate estimated and the vehicle roll angle estimated, the road bank angle.

主权项

1. A system, for use at a vehicle to estimate vehicle roll angle and a road bank angle, in real time and generally simultaneously, comprising:
a sensor configured to measure vehicle roll rate; a processor; and a computer-readable medium comprising computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising:
estimating, using an observer and the vehicle roll rate measured by the sensor, an estimated vehicle roll rate;estimating, using an observer and the measured vehicle roll rate, the vehicle roll angle; andestimating, based on the estimated vehicle roll rate and the vehicle roll angle estimated, the road bank angle.