本研究提出車輛動態預估器藉由結合駕駛人模型、車輛模型和未來道路資訊演算車輛未來動態。本研究以Armax系統識別建立駕駛人模型，並以篩選機制去除錯誤的駕駛人模型，篩選後的駕駛人模型將接收前方道路資訊並計算出駕駛人未來的操控角度，經過車輛模型的估算後，可以得到預測的車輛動態，最後以翻覆指標判斷車輛未來是否有翻覆危險。另一方面，因為道路傾斜角對車輛翻覆有相當的影響，因此設計道路傾斜角觀察器，估算道路傾斜角，並以實車測試觀察器效果。

This study has proposed a vehicle dynamic predictor by combining the driver model, vehicle model, future road information and rollover index which can predict the possibility of rollover in the future. By using Armax system identification, the driver model is established. Furthermore, the mechanism is proposed to filter out incorrect driver model. After that, the filtered driver model will then receive frontal road information and calculate the future steering wheel angle from driver model. As the future steering wheel angle from driver model is obtained, it will be given into the vehicle model in order to predict the future vehicle dynamic motion. Finally, with rollover index, the intention of rollover can be identified.
On the other hand, road bank angle plays a major role in the roll motion of vehicle. Therefore, an observer is designed to estimate the road bank angle, and further, be verified through the real driving test.

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