CN-121989969-A - Vehicle with roll angle prediction on uneven surfaces

Abstract

A vehicle with roll angle prediction on uneven surfaces is provided. A vehicle, system, and method include receiving suspension data indicative of a current state of a suspension of the vehicle and estimating, by at least one processor, a height of a current center of gravity of the vehicle using at least the suspension data. The method then determines, by the at least one processor, a rollover limit angle prediction using the height of the current center of gravity. The method also includes performing, by the at least one processor, an action that attempts to avoid rollover of the vehicle based on the rollover limit angle prediction.

Inventors

• D. H.M. Smith
• A. Gudazi

Assignees

• 通用汽车环球科技运作有限责任公司

Dates

Publication Date

20260508

Application Date

20241226

Priority Date

20241107

Claims (10)

1. 1. A method, comprising: receiving suspension data indicating a current state of a suspension of the vehicle; Estimating, by at least one processor, a height of a current center of gravity of the vehicle using at least the suspension data; Determining, by at least one processor, a rollover limit angle prediction using the height of the current center of gravity, and An attempt to avoid rollover of the vehicle is performed by at least one processor based on the rollover limit angle prediction.
2. 2. The method of claim 1, wherein the action comprises displaying an alert on the vehicle.
3. 3. The method of claim 2, wherein the action comprises displaying a current tilt angle of the vehicle and the roll limit angle prediction of the vehicle.
4. 4. The method of claim 1, comprising receiving data of a current absolute lateral angle, the data indicating a tilt status of the vehicle and being used to generate the height of the current center of gravity.
5. 5. The method of claim 1, comprising determining a corner load for each wheel of the vehicle and including using the suspension data to indicate a suspension deflection and a suspension stiffness for a wheel height, and using the corner loads to generate a vehicle weight and the height of the current center of gravity of the vehicle.
6. 6. The method of claim 5, wherein generating the height of the current center of gravity comprises using the corner load, a vehicle track width of the vehicle, and a current absolute lateral angle of the vehicle.
7. 7. The method of claim 1, comprising generating a height of a center of gravity of a sprung mass of the vehicle, including generating a weight of the sprung mass using a weight of the vehicle and a weight of an unsprung mass, and generating the roll limit angle prediction using the height of the center of gravity of the sprung mass.
8. 8. The method of claim 7, wherein generating the height of the center of gravity of the sprung mass includes using the weight of the vehicle, the height of the current center of gravity, the weight of an unsprung mass, and the weight of a sprung mass.
9. 9. The method of claim 1, wherein the vehicle comprises a chassis and wheels rotatably connected to the chassis, wherein the wheels are arranged to apply a force to the suspension, and wherein the method comprises generating a roll gain indicative of roll between the wheels and the chassis caused by the suspension, and providing the roll gain to determine the roll limit angle prediction.
10. 10. A system, comprising: Memory, and A processor circuit forming one or more processors communicatively coupled to the memory, the processors arranged to operate by: suspension data indicating a current state of a suspension of the vehicle is received, Using at least the suspension data to estimate the height of the current center of gravity of the vehicle, Determining a rollover limit angle prediction using the height of the current center of gravity, and An attempt to avoid rollover of the vehicle is performed based on the rollover limit angle prediction.

Description

Vehicle with roll angle prediction on uneven surfaces Technical Field The present disclosure relates to vehicles with off-road driving features, and more particularly, to automated rollover prediction for driving on uneven, rough surfaces. Background When the vehicle is driven off-road, such vehicles are often intentionally driven on uneven, stony or more angled dirt and unpaved vehicle paths. When one side of the vehicle passes over a much higher obstacle, such as a boulder, than the other side of the vehicle, or is driven on a heavily inclined path, the vehicle may travel at a certain lateral tilt angle (banked angle). When such a roll angle is too large for the vehicle, the vehicle may roll over or turn upside down. Thus, there is a need for automatic, accurate roll angle prediction to inform the driver of the vehicle before roll occurs. Disclosure of Invention In an example implementation, a method includes receiving suspension data indicative of a current state of a suspension of a vehicle and estimating, by at least one processor, a height of a current center of gravity of the vehicle using at least the suspension data. The method then determines, by the at least one processor, a rollover limit angle prediction using the height of the current center of gravity. The method also includes performing, by the at least one processor, an action that attempts to avoid rollover of the vehicle based on the rollover limit angle prediction. According to yet another example implementation, the actions include displaying an alert on the vehicle. According to yet another example implementation, the actions include displaying a current tilt angle of the vehicle and a roll limit angle prediction of the vehicle. According to yet another example implementation, the method includes receiving data of a current absolute lateral angle, the data indicating a tilt state of the vehicle and being used to generate a height of a current center of gravity. According to yet another example implementation, the method includes determining corner loads for each wheel of the vehicle, and includes using suspension data to indicate suspension deflection and suspension stiffness for the wheel height. According to yet another example implementation, the method includes generating a vehicle weight and a height of a current center of gravity of the vehicle using the corner load. In accordance with yet another example implementation, the generation of the height of the current center of gravity includes using corner loads, a vehicle track width of the vehicle, and a current absolute lateral angle of the vehicle. According to yet another example implementation, the method includes generating a height of a center of gravity of a sprung mass of the vehicle, including generating a weight of the sprung mass using a weight of the vehicle and a weight of an unsprung mass, and generating a roll limit angle prediction using the height of the center of gravity of the sprung mass. In addition, according to another example implementation, the generation of the height of the center of gravity of the sprung mass includes using the weight of the vehicle, the height of the current center of gravity, the weight of the unsprung mass, and the weight of the sprung mass. According to yet another example implementation, a vehicle includes a chassis and a wheel rotatably coupled to the chassis, and the wheel is arranged to apply a force to a suspension. The method includes generating a roll gain indicative of roll between a wheel and a chassis caused by a suspension and providing the roll gain to determine a roll limit angle prediction. In another example implementation, a system includes a memory and a processor circuit forming one or more processors communicatively coupled to the memory, the processor arranged to operate by receiving suspension data indicative of a current state of a suspension of a vehicle, estimating a height of a current center of gravity of the vehicle using at least the suspension data, determining a roll limit angle prediction using the height of the current center of gravity, and performing an action of attempting to avoid a roll of the vehicle in accordance with the roll limit angle prediction. According to yet another example implementation, the determining includes generating the current roll angle including suspension deflection using vehicle track width and suspension data. According to yet another example implementation, the processor is arranged to operate by generating an existing yaw angle comprising using a current roll angle and an existing absolute yaw angle of the vehicle. According to yet another example implementation, a vehicle includes a chassis and wheels rotatably coupled to the chassis. The wheel is arranged to apply a force to the suspension and the processor is arranged to operate by using the current roll angle and the road roll angle to generate a roll gain indicative of roll between the wheel and the chassis caused