Patent ID: 6259999
Filing Date: 2001-07-10
Classification: B60R,G01C

Abstract:
A method for determining an inertial state of a vehicle, comprising the steps of:(a) measuring a first acceleration component of the vehicle in a first direction, a second acceleration component of the vehicle in a second direction and a third acceleration component of the vehicle in a third direction, the first direction extending along a longitudinal axis of the vehicle, the second direction extending along a transverse axis of the vehicle and the third direction extending along a vertical axis of the vehicle;(b) obtaining a magnitude of an acceleration vector of the vehicle as a function of the first, second and third acceleration components;(c) determining if the magnitude is within a predetermined threshold range using a threshold decision arrangement, the predetermined threshold range having an upper threshold value which is greater than a gravitational acceleration value and a lower threshold value which is less than the gravitational acceleration value;(d) only if the magnitude is within the predetermined threshold range, determining at least one of a first current course angle of the vehicle with respect to the longitudinal axis and a second current course angle of the vehicle with respect to the transverse axis; and(e) if the magnitude is outside of the predetermined threshold range, retaining at least one of a first previously determined course angle with respect to the longitudinal axis and a second previously determined course angle with respect to the transverse axis.