Dynamic-based method of estimating the absolute roll angle of a vehicle body

摘要

The absolute roll angle of a vehicle body is estimated by blending two preliminary roll angle estimates based on their frequency so that the blended estimate continuously favors the more accurate of the preliminary roll angle estimates. A first preliminary roll angle estimate based on the measured roll rate is improved by initially compensating the measured roll rate for bias error using roll rate estimates inferred from other measured parameters. And a second preliminary roll angle estimate is determined according to the sum of the road bank angle and the relative roll angle. The blended estimate is used to estimate the actual lateral acceleration, the lateral velocity and side-slip angle of the vehicle, which are used in rollover detection and other various other control applications.