{
  "$type": "site.standard.document",
  "description": "A method for controlling an automotive vehicle having a plurality of wheels, includes determining a yaw rate, determining a lateral acceleration, determining a roll rate, determining longitudinal acceleration; and determining a calculated angle relative to the vehicle. The method further includes…",
  "path": "/patents/1089810",
  "publishedAt": "2004-02-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60G17/0162",
    "FORD GLOBAL TECH LLC [US]"
  ],
  "textContent": "A method for controlling an automotive vehicle having a plurality of wheels, includes determining a yaw rate, determining a lateral acceleration, determining a roll rate, determining longitudinal acceleration; and determining a calculated angle relative to the vehicle. The method further includes generating a wheel lift signal or a wheel grounded signal (306) as a function of yaw rate, lateral acceleration, roll rate and longitudinal acceleration, adjusting the calculated angle in response to the wheel lift or wheel grounded signal (312), and controlling a safety system in response to the calculated vehicle angle.",
  "title": "Method for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control"
}