Patent ID: 11951923
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicle turn-over determination apparatus comprising:
a turn-over sensor configured to detect a value of a turn-over angle or a turn-over velocity of a vehicle;
a memory that stores determination-threshold information to be used in a determination of a turn-over of the vehicle;
a determination processor configured to perform the determination of the turn-over of the vehicle on a basis of the value detected by the turn-over sensor and the determination-threshold information held in the memory; and
a road-surface detector configured to detect a road surface that is present in a traveling direction of the vehicle, wherein:
the determination processor is configured to:
acquire the determination-threshold information from the memory,
vary the determination-threshold information acquired from the memory in accordance with an inclination of the road surface which is present in the traveling direction of the vehicle and detected by the road-surface detector, and thereby generate adjusted-threshold information adjusted in accordance with the inclination of the road surface, and
compare the adjusted-threshold information and the value detected by the turn-over sensor with each other, and thereby perform the determination of the turn-over of the vehicle,

the memory stores, as the determination-threshold information,
information regarding a first determination threshold related to the turn-over of the vehicle in a left direction, and
information regarding a second determination threshold related to the turn-over of the vehicle in a right direction,

the first determination threshold comprises a first roll angle threshold (D1), a second roll angle threshold (D2), a first roll velocity threshold (V1) and a second roll velocity threshold (V2), an absolute value of the first roll angle threshold (D1) being greater than an absolute value of the second roll angle threshold (D2), and an absolute value of the first roll velocity threshold (V1) being greater than an absolute value of the second roll velocity threshold (V2),
the second determination threshold comprises a third roll angle threshold (D3), a fourth roll angle threshold (D4), a third roll velocity threshold (V3) and a fourth roll velocity threshold (V4), an absolute value of the third roll angle threshold (D3) being greater than an absolute value of the fourth roll angle threshold (D4), and an absolute value of the third roll velocity threshold (V3) being greater than an absolute value of the fourth roll velocity threshold (V4),
the determination processor is configured to determine:
the vehicle terns over in the right direction
(i) when, under a condition that an absolute value of a roll angle to the right direction exceeds the absolute value of the first roll angle threshold (D1), an absolute value of a roll velocity in the right direction exceeds the absolute value of the first roll velocity (V1);
(ii) when, under a condition that the absolute value of the roll velocity in the right direction exceeds the absolute value of the second roll velocity (V2), the absolute value of the roll angle to the right direction exceeds the absolute value of the second roll angle threshold (D2); and
(iii) when, under a condition that the absolute value of the roll angle to the right direction does not exceed the absolute value of the first roll angle threshold (D1) and the absolute value of the roll velocity in the right direction does not exceed the absolute value of the second roll velocity (V2), the absolute value of the roll velocity and the absolute value of the roll angle exceeds a line connecting a point (V1, D1) and a point (V2, D2) on a graph having a horizontal axis corresponds to the roll velocity and a vertical axis corresponding to the roll angle, and

the vehicle terns over in the left direction
(i) when, under a condition that an absolute value of a roll angle to the left direction exceeds the absolute value of the third roll angle threshold (D3), the absolute value of a roll velocity in the left direction exceeds the absolute value of the third roll velocity (V3);
(ii) when, under a condition that the absolute value of the roll velocity in the left direction exceeds the absolute value of the fourth roll velocity (V4), the absolute value of the roll angle to the left direction exceeds the absolute value of the fourth roll angle threshold (D4); and
(iii) when, under a condition that the absolute value of the roll angle to the left direction does not exceed the absolute value of the third roll angle threshold (D3) and the absolute value of the roll velocity in the left direction does not exceed the absolute value of the fourth roll velocity (V4), the absolute value of the roll velocity and the absolute value of the roll angle exceeds a line connecting a point (V3, D3) and a point (V4, D4) on the graph,

the determination processor is configured to, upon generating the adjusted-threshold information,
vary the determination-threshold information and thereby (i) decreasing the absolute value of the first roll angle threshold (D1), the absolute value of the second roll angle threshold (D2), the absolute value of the first roll velocity threshold (V1) and the absolute value of the second roll velocity threshold (V2), and (ii) increasing the absolute value of the third roll angle threshold (D3), the absolute value of the fourth roll angle threshold (D4), the absolute value of the third roll velocity threshold (V3) and the absolute value of the fourth roll velocity threshold (V4), in a case where the road-surface detector has detected that the road surface which is present in the traveling direction of the vehicle descends leftward, and
vary the determination-threshold information and thereby (i) increasing the absolute value of the first roll angle threshold (D1), the absolute value of the second roll angle threshold (D2), the absolute value of the first roll velocity threshold (V1) and the absolute value of the second roll velocity threshold (V2) and (ii) decreasing the absolute value of the third roll angle threshold (D3), the absolute value of the fourth roll angle threshold (D4), the absolute value of the third roll velocity threshold (V3) and the absolute value of the fourth roll velocity threshold (V4), in a case where the road-surface detector has detected that the road surface which is present in the traveling direction of the vehicle descends rightward.