| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of judgment in judging the possibility of roll-over of a vehicle based on the roll angle and roll angular velocity of the vehicle. SOLUTION: A threshold line S is set on a two-dimensional map with the roll angleθand roll angular velocityωof a vehicle as parameters, and when the history line of the actual roll angleθand roll angular velocityωof the vehicle crosses the threshold line S from an origin side non-roll-over area to an anti-origin side roll-over area, it is judged that there is the possibility of roll-over of the vehicle. When the lateral acceleration or lateral speed of the vehicle is applied in a direction of accelerating the roll-over of the vehicle, the threshold line S is moved in a direction of approaching the origin, and when the lateral acceleration or lateral speed of the vehicle is applied in a direction of suppressing the roll-over of the vehicle, the threshold line S is moved in a direction of receding from the origin.
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