Estimation of vehicle roll angle

In modern vehicles a large number of signal measurements related to vehicle dynamics is available. While hard cost constraints in the automotive industry imply that a single control system is equipped with a minimal number of sensors, the combination of sensors from different systems can be used to establish new information via signal processing. The set-up considered in the paper at hand is a combination of a vehicle dynamics control system (VDC system) and a rollover mitigation system. A new estimation scheme for the vehicle roll angle is derived based on the combined sensor information from these two systems. The approach is tested in a large number of driving situations and comparison to roll angle measurements from a high precision inertial navigation system shows good estimation results.