Roll angle determining method for motor vehicle i.e. car, involves recognizing whether amount of pitch rate exceeds predetermined threshold value and amount of yaw rate exceeds another threshold value

摘要

The method involves determining a pitch rate around an axis by a rotary rate sensor, and determining a yaw rate around another axis orthogonal to the former axis by using another rate sensor. A recognition is made to determine whether an amount of the pitch rate exceeds a predetermined threshold value and an amount of the yaw rate exceeds another threshold value. A roll angle (Phi) around a third axis is determined when it is recognized that the amount of the pitch rate exceeds the former threshold value and the amount of the yaw rate exceeds the latter threshold value.