{
  "$type": "site.standard.document",
  "description": "A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (β). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller…",
  "path": "/patents/1233797",
  "publishedAt": "2019-05-16T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/146",
    "GM Global Technology Operations LLC"
  ],
  "textContent": "A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (β). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle (φ) based at least partially on the suspension displacement data. The bank angle (β) is determined based at least partially on the roll angle (φ), a yaw rate (r), a longitudinal velocity (V) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle (φ) and the bank angle (β).",
  "title": "DETERMINATION OF ROLL ANGLE AND BANK ANGLE WITH SUSPENSION DISPLACEMENT DATA"
}