Rollover detection requires an accurate knowledge of the vehicle's motion. Especially its angular velocity and the orientation relative to a horizontal plane are of major interest. Instead of using expensive gyroscopes for measuring the angular velocity, a motion estimation using acceleration signals only is presented. A state estimator based on an Extended Kalman filter is introduced to guarantee optimal estimation results for the angular velocity. The filter works in tracking mode since the system inputs are unknown. The great disadvantage of the Extended Kalman filter is its high computational effort. Since a real time implementation for the estimation process is required, a modified estimation procedure is necessary. A two stage sub-optimal state estimator, based on a stationary Kalman Filter is developed, to reduce the computation time. Navigation techniques are used to determine the vehicles orientation in a general spatial rotation.
Estimation of rotational states in vehicle rollover using accelerometers
Schätzung des Überschlagwinkels bei Kraftfahrzeugen mittels Beschleunigungssensoren und Kalman-Filtern
2000
6 Seiten, 3 Bilder, 7 Quellen
Aufsatz (Konferenz)
Englisch
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