US Patent No: 6,002,974
Number of patents in Portfolio can not be more than 2000
Vehicle rollover sensing using extended kalman filter
Stats
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Dec 14, 1999
Issued date -
Feb 6, 1998
filing date -
09/019,878
serial no -
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Abstract
A rollover sensing apparatus and method are provided for predicting rollover or pitchover conditions of a vehicle. The apparatus and method sense angular roll rate, angular pitch rate, longitudinal acceleration, lateral acceleration, and vertical acceleration of the vehicle and produce output signals indicative thereof. A non-linear filter, such as an extended Kalman filter, estimates a current roll angle and a current pitch angle as a function of the sensed signals. A predictor predicts a future roll angle as a function of the estimated current roll angle and the sensed roll rate, and further predicts a future pitch angle as a function of the estimated current pitch angle and the sensed pitch rate. The predicted roll and pitch attitude angles are compared to a threshold value and a vehicle overturn condition signal is output to indicate a predicted vehicle rollover or pitchover condition.
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First Claim
Related Publications
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- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
| Patent Owner | Address | Total Patents |
|---|---|---|
| DELPHI TECHNOLOGIES, INC. | TROY, MI | 5007 |
International Classification(s)
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- [Patents Count]
Inventor(s)
| Inventor Name | Address | # of filed Patents | Total Citations |
|---|---|---|---|
| Schiffmann, Jan Konried | Newbury Park, CA | 6 | 654 |
Cited Art
| Patent Info | (Count) | # Cites | Year |
|---|---|---|---|
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| 5,610,575 Method and system for detecting vehicle roll-over | 117 | 1994 | |
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| 5,890,084 Controller for vehicular safety device | 116 | 1997 | |
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| 5,825,284 System and method for the detection of vehicle rollover conditions | 141 | 1996 | |
Patent Citation Ranking
Forward Cites
| Patent Info | (Count) | # Cites | Year |
|---|---|---|---|
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| 6,799,092 Rollover stability control for an automotive vehicle using rear wheel steering and brake control | 49 | 2001 | |
| 6,631,317 Attitude sensing system for an automotive vehicle | 54 | 2001 | |
| 6,529,803 Roll over stability control for an automotive vehicle having rear wheel steering | 58 | 2001 | |
| 6,593,849 Wheel lift identification for an automotive vehicle | 54 | 2002 | |
| 6,714,851 Method for road grade/vehicle pitch estimation | 7 | 2002 | |
| 6,556,908 Attitude sensing system for an automotive vehicle relative to the road | 80 | 2002 | |
| 6,718,248 System for detecting surface profile of a driving road | 42 | 2002 | |
| 6,684,140 System for sensing vehicle global and relative attitudes using suspension height sensors | 19 | 2002 | |
| 6,654,674 Enhanced system for yaw stability control system to include roll stability control function | 58 | 2002 | |
| 6,834,218 Roll over stability control for an automotive vehicle | 36 | 2003 | |
| 7,136,731 System for determining vehicular relative roll angle during a potential rollover event | 4 | 2003 | |
| 7,233,236 Passive wheel lift identification for an automotive vehicle using operating input torque to wheel | 7 | 2003 | |
| 7,132,937 Wheel lift identification for an automotive vehicle using passive and active detection | 10 | 2003 | |
| 7,109,856 Wheel lifted and grounded identification for an automotive vehicle | 8 | 2003 | |
| 6,904,350 System for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control | 14 | 2003 | |
| 7,194,351 System and method for determining a wheel departure angle for a rollover control system | 2 | 2003 | |
| 7,085,639 System and method for characterizing the road bank for vehicle roll stability control | 5 | 2003 | |
| 7,003,389 System and method for characterizing vehicle body to road angle for vehicle roll stability control | 3 | 2003 | |
| 7,085,642 Method and system for correcting sensor offsets | 6 | 2003 | |
| 7,430,468 System and method for sensitizing the activation criteria of a rollover control system | 2 | 2003 | |
| 6,941,205 System and method for deteching roll rate sensor fault | 2 | 2003 | |
| 7,222,007 Attitude sensing system for an automotive vehicle relative to the road | 9 | 2004 | |
| 7,239,949 Integrated sensing system | 21 | 2004 | |
| 7,079,928 System and method for determining a wheel departure angle for a rollover control system with respect to road roll rate and loading misalignment | 12 | 2004 | |
| 7,653,471 Active driven wheel lift identification for an automotive vehicle | 7 | 2004 | |
| RE40496 Attitude sensing system for an automotive vehicle relative to the road | 0 | 2004 | |
| 7,308,350 Method and apparatus for determining adaptive brake gain parameters for use in a safety system of an automotive vehicle | 2 | 2004 | |
| 7,451,032 System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system | 4 | 2004 | |
| 7,640,081 Roll stability control using four-wheel drive | 2 | 2004 | |
| 7,668,645 System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | 3 | 2004 | |
| 7,715,965 System and method for qualitatively determining vehicle loading conditions | 1 | 2004 | |
| 7,660,654 System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system | 1 | 2004 | |
| RE40268 Wheel lift identification for an automotive vehicle | 0 | 2004 | |
| 7,130,735 Roll over stability control for an automotive vehicle | 5 | 2005 | |
| 7,480,547 Attitude sensing system for an automotive vehicle relative to the road | 7 | 2005 | |
| 7,120,528 System and method for operating a rollover control system in a transition to a rollover condition | 9 | 2005 | |
| 7,590,481 Integrated vehicle control system using dynamically determined vehicle conditions | 29 | 2005 | |
| 7,136,730 Enhanced system for yaw stability control system to include roll stability control function | 10 | 2005 | |
| 8,121,758 System for determining torque and tire forces using integrated sensing system | 0 | 2005 | |
| 7,600,826 System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls | 3 | 2005 | |
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| 6,169,939 Method of generating a vehicle lateral acceleration signal for use in an active tilt control system | 59 | 1998 | |
| 6,332,104 Roll over detection for an automotive vehicle | 82 | 1999 | |
| 6,324,446 Roll over stability control for an automotive vehicle | 69 | 1999 | |
| 6,263,261 Roll over stability control for an automotive vehicle | 86 | 1999 | |
| 6,327,526 Method and apparatus for measuring the rollover resistance and compliance characteristics of a vehicle | 11 | 2000 | |
| 6,397,127 Steering actuated wheel lift identification for an automotive vehicle | 70 | 2000 | |
| 6,356,188 Wheel lift identification for an automotive vehicle | 66 | 2000 | |
| 6,496,758 Rollover stability control for an automotive vehicle using front wheel actuators | 66 | 2001 | |
| 8,442,720 Integrated vehicle control system using dynamically determined vehicle conditions | 0 | 2009 | |
| 8,352,143 Integrated vehicle control system using dynamically determined vehicle conditions | 0 | 2009 | |
| 8,346,452 Integrated vehicle control system using dynamically determined vehicle conditions | 0 | 2009 | |
| 8,311,706 Integrated vehicle control system using dynamically determined vehicle conditions | 0 | 2009 | |
| 8,005,592 System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls | 0 | 2009 | |
| 8,219,282 System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system | 0 | 2009 | |
| 8,005,596 System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system | 0 | 2009 | |
| 8,050,857 System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | 0 | 2010 | |
| 7,877,178 System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | 1 | 2010 | |
| 7,877,199 System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | 0 | 2010 | |
| 7,877,200 System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | 1 | 2010 | |
| 7,877,201 System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system | 1 | 2010 | |
| 7,899,594 System and method for qualitatively determining vehicle loading conditions | 2 | 2010 | |
| 8,346,433 System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system | 0 | 2012 | |
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| 6,542,792 Vehicle rollover detection apparatus and method | 48 | 2000 | |
| 6,535,800 Vehicle rollover sensing using angular rate sensors | 16 | 2001 | |
| 6,584,388 Adaptive rollover detection apparatus and method | 26 | 2001 | |
| 6,654,671 Vehicle rollover detection having variable sensitivity | 24 | 2002 | |
| 6,678,631 Vehicle attitude angle estimator and method | 37 | 2002 | |
| 7,016,782 Collision detection system and method of estimating miss distance | 4 | 2002 | |
| 6,615,138 Collision detection system and method of estimating miss distance employing curve fitting | 11 | 2002 | |
| 6,794,987 Object detection system and method of estimating object size | 15 | 2002 | |
| 6,873,251 Tracking system and method employing multiple overlapping sensors | 20 | 2002 | |
| 6,714,848 Adaptive rollover detection apparatus and method | 13 | 2002 | |
| 6,989,754 Target awareness determination system and method | 21 | 2003 | |
| 7,512,461 Vehicle rollover sensing using angular accelerometer | 1 | 2003 | |
| 7,162,340 Vehicle rollover detection and method of anticipating vehicle rollover | 5 | 2004 | |
| 7,369,941 Collision detection system and method of estimating target crossing location | 4 | 2004 | |
| 7,403,848 Vehicle rollover detection method | 2 | 2004 | |
| 7,502,675 Feedforward control of motor vehicle roll angle | 1 | 2004 | |
| 7,191,047 Motor vehicle control using a dynamic feedforward approach | 2 | 2004 | |
| 7,702,441 Safety logic for vehicle rollover detection systems and a method for detecting near rollover situations | 2 | 2005 | |
| 7,477,972 Rollover warning and detection method for transport vehicles | 2 | 2005 | |
| 7,805,231 Integrated vehicle crash sensing system and method | 0 | 2006 | |
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| 6,502,023 Device for estimating rolling condition of vehicle body with limits of roll angle and angular speed | 38 | 1999 | |
| 6,121,873 Device for producing electrical signals indicating yaw rate, lateral acceleration and roll rate of vehicle body | 32 | 1999 | |
| 6,178,368 Roll control device of vehicles with tracing of turning course | 9 | 1999 | |
| 6,843,538 Device for controlling over-rolling of vehicle body | 3 | 1999 | |
| 6,315,373 Roll control device of vehicle manageable of sudden failure of rolling condition detection means | 61 | 2000 | |
| 6,278,930 Device for controlling spin/driftout of vehicle compatibly with roll control | 60 | 2000 | |
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| 6,338,012 Roll over stability control for an automotive vehicle | 80 | 2001 | |
| 6,961,648 System and method for desensitizing the activation criteria of a rollover control system | 9 | 2003 | |
| 7,302,331 Wheel lift identification for an automotive vehicle | 11 | 2003 | |
| 7,096,103 System and method for operating a rollover control system during an elevated condition | 10 | 2005 | |
| 7,277,787 System and method for desensitizing the activation criteria of a rollover control system | 1 | 2005 | |
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| 6,212,457 Mixed parallel and daisy chain bus architecture in a vehicle safety system | 12 | 1999 | |
| 6,290,019 System and method for vehicle side rollover aversion | 37 | 2000 | |
| 6,249,730 Vehicle occupant protection system and method utilizing Z-axis central safing | 12 | 2000 | |
| 6,542,073 System and method for sensing vehicle rollover | 51 | 2000 | |
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| 8,060,282 Vehicle component control methods and systems based on vehicle stability | 2 | 2007 | |
| 8,229,624 Vehicle diagnostic information generating and transmission systems and methods | 0 | 2008 | |
| 8,157,047 Occupant protection systems control techniques | 0 | 2008 | |
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| 6,529,811 Vehicle rollover detection system | 43 | 2002 | |
| 7,698,036 Vehicle rollover detection system | 2 | 2003 | |
| 7,057,503 Vehicle rollover detection system | 17 | 2003 | |
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| 6,424,897 Device for producing a signal to initiate actuation of a security system in a vehicle making an overturn | 42 | 2000 | |
| 6,349,247 Method and device for stabilizing a motor vehicle in order to prevent it from rolling over | 65 | 2000 | |
| 6,687,576 Arrangement for plausibilizing a rollover decision | 8 | 2002 | |
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| 8,061,888 Autoclave with underflow dividers | 0 | 2007 | |
| 8,252,254 Process for reduced alkali consumption in the recovery of silver | 0 | 2007 | |
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| D544672 Vehicle leveling device | 0 | 2006 | |
| 7,370,428 Parking area level indication device | 3 | 2006 | |
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| 6,304,805 Vehicle behavior estimating and controlling method and system as well as body slip angle estimating method and system | 15 | 2000 | |
| 7,930,080 Passenger protecting apparatus and method for protecting passenger | 3 | 2006 | |
|
|
|||
| 7,571,030 Estimation of vehicle roll rate and roll angle using suspension deflection sensors | 1 | 2006 | |
| 7,672,765 Enhanced roll stability indicator for vehicle rollover control | 1 | 2007 | |
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| 6,212,455 Roll sensor system for a vehicle | 28 | 1998 | |
| 6,600,985 Roll sensor system for a vehicle | 46 | 2002 | |
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| 7,604,783 Reduction of lime consumption when treating refractor gold ores or concentrates | 3 | 2005 | |
| 8,029,751 Reduction of lime consumption when treating refractory gold ores or concentrates | 0 | 2009 | |
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| 6,169,946 Device and method for controlling accident protection triggering devices in motor vehicles | 54 | 1998 | |
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| 6,954,140 Method and apparatus for vehicle rollover prediction and prevention | 14 | 2002 | |
|
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| 7,263,460 Device and method for measuring accelerations for a passenger protection system in a vehicle | 0 | 2004 | |
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| 7,557,697 System to measure wheel liftoff | 0 | 2005 | |
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| 6,157,295 Method and apparatus for determining oscillation values and other vehicle-specific quantities of a vehicle | 14 | 1999 | |
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| 6,618,655 Process for determining lateral overturning of vehicle and occupant protecting system in vehicle | 15 | 2001 | |
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| 6,170,344 Pipeline distortion monitoring system | 9 | 1999 | |
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| 7,020,552 Rollover control method and system thereof | 12 | 2003 | |
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| 6,968,921 Roll-over controller | 2 | 2003 | |
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| 7,628,074 System and method for motion capture in natural environments | 0 | 2007 | |
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| 6,397,133 Vehicle rollover safety system | 26 | 2000 | |
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| 8,463,517 Method for hill start assistance for motor vehicle | 0 | 2008 | |
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| 6,560,519 Rollover-sensing system for a vehicle and method of operating the same | 17 | 2001 | |
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| 6,934,611 Vehicle stability operator feedback system | 2 | 2003 | |
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| 8,275,516 Agricultural vehicle autopilot rollover risk assessment system | 1 | 2009 | |
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| 6,963,797 System and method for determining an amount of control for operating a rollover control system | 10 | 2003 | |
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| 6,985,795 Material handler with center of gravity monitoring system | 2 | 2001 | |
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| 7,599,779 Acceleration estimation device and vehicle | 0 | 2007 | |
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| 6,185,489 Vehicle overturn monitor | 14 | 1998 | |
Maintenance Fees
| Fee | Large entity fee | small entity fee | micro entity fee | due date |
|---|
| Fee | Large entity fee | small entity fee | micro entity fee |
|---|---|---|---|
| Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
| Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |