Patent ID: 7788007

Claim:
A method for generating a roll stability indicator for indicating a likelihood that a vehicle will tip-up or rollover, said method comprising: providing a roll rate signal of the roll rate of the vehicle; providing a yaw rate signal of the yaw rate of the vehicle; providing a lateral acceleration signal of the lateral acceleration of the vehicle; providing a speed signal of the speed of the vehicle; providing a hand-wheel angle signal of the angle of the hand-wheel of the vehicle; estimating a roll angle signal of the vehicle based on one or more of the roll rate signal, the yaw rate signal, the lateral acceleration signal, the speed signal and the hand-wheel angle signal; estimating a bank angle signal of the vehicle from one or more of the roll rate signal, the yaw rate signal, the lateral acceleration signal, the vehicle speed signal and the hand-wheel angle signal; correcting the roll angle signal based on the estimated bank angle signal to provide a corrected roll angle signal; calculating a roll energy signal based on the corrected roll angle signal; calculating a roll energy rate signal based on the roll energy signal; determining a critical energy signal and a critical energy rate signal; and calculating the roll stability indicator based on the roll energy signal, the roll energy rate signal, the critical energy signal and the critical energy rate signal.