| 摘要 |
A vehicle rollover detecting method in an ESP(Electronic Stability Program) system is provided to judge possibility of a rollover by estimating the roll angle by using an ESP sensor and a vehicle roll model and the rollover time on the basis of the movement characteristic of a vehicle by using a phase plane method. A vehicle rollover detecting method in an ESP system comprises the steps of: calculating the estimated roll angle and roll rate from a sensor signal of the ESP system and a vehicle roll model(S200); converting the estimated roll angle and roll rate into the roll angle and roll rate of each critical value according to the geometry characteristic(S210); calculating the distance from the roll angle and roll rate of the current status generated while traveling, to the roll angle and roll rate of critical values(S220); computing an instantaneous velocity vector by applying the roll angle and roll rate of the current status of the vehicle on a phase plane, and then deciding the time needed to reach the calculated distance, by using vector velocity(S230); and judging a rollover of the vehicle according to the time needed to prevent a rollover, from the current time and the time needed to compensate rollover moment of the vehicle by hardware(S240~S260).
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