Verfahren und Anordnung zum Ermitteln der Inertiallage eines Fahrzeugs

摘要

The method of the invention allows to determine a vehicle inertial position regardless of dynamic movements of said vehicle. Said method consists in measuring a vehicle accelerations (ax', ay', az') towards its longitudinal (x'), transversal (y') and vertical (z') axes, determining an acceleration vector value (¦a'(i)¦) resulting from three accelerations components (ax', ay', az') and comparing said acceleration vector value (¦a'(i)¦) to an range bounded by a limit value (co) which is higher than a gravity (g) acceleration and a limit value (cu) which is lower than a gravity (g) acceleration. An angle ( phi x) indicating vehicle position at a given moment relative to its longitudinal axis and/or an angle ( phi y) indicating the vehicle position at a given moment relative to its transversal axis are determined only when said acceleration vector value (¦a'(i)¦) is within said range. If that is not the case, position angles previously determined are maintained.