Untripped SUV rollover detection and prevention

2009

— In this paper we apply recent results from robust control to the problem of rollover prevention in automotive vehicles. Specifically, we exploit the results of Pancake, Corless and Brockman, which provide controllers to robustly guarantee that the peak values of the performance outputs of an uncertain system do not exceed certain values. We introduce a new measure of performance for rollover prevention, the Load Transfer Ratio LT Rd, and design differential-braking-based rollover controllers to keep the value of this quantity below a certain level; we also obtain controllers which yield robustness to variations in vehicle speed. We present numerical simulations to demonstrate the efficacy of our controllers. I.

Decision and Control, 2006 …, 2006

In this paper we apply recent results from robust control to the problem of rollover prevention in automotive vehicles. Specifically, we exploit the results of Pancake, Corless and Brockman, which provide controllers to robustly guarantee that the peak values of the performance outputs of an uncertain system do not exceed certain values. We introduce a new measure of performance for rollover prevention, the Load Transfer Ratio LT R d , and design differential-braking-based rollover controllers to keep the value of this quantity below a certain level; we also obtain controllers which yield robustness to variations in vehicle speed. We present numerical simulations to demonstrate the efficacy of our controllers.

2009 IEEE International Conference on Robotics and Automation, 2009

The active devices dedicated to on-road vehicle stability cannot be applied satisfactorily in an off-road context, since the variability and the non-linear features of grip conditions can no longer be neglected. Specific solutions have then to be investigated. In this paper, the prevention of light All-Terrain Vehicle (ATV) rollover is addressed. First, a backstepping observer is designed in order to estimate online a rollover indicator accounting for sliding phenomena, from a low-cost perception system. Next, the maximum vehicle velocity, compatible with a safe motion over some horizon of prediction, is computed via Predictive Functional Control (PFC), and can then be applied, if needed, to the vehicle actuator to prevent from rollover. The capabilities of the proposed device are demonstrated and discussed thanks to an advanced simulation testbed that has proved to supply results very close to experimental ones.

International journal of automotive engineering, 2020

Published: 1 Sep 2020 Rollover of sport utility vehicles is a critical challenge for dynamic stability of the vehicle. Due to the high rate of fatalities resulted from the rollover, in order to reduces the injuries, the design of active vehicle controllers has received significant attention among the researchers and car companies. In this article, a multi-criteria optimum method is discussed in order to design a dynamics stabilizing controller via differential braking with an optimum braking torque distribution. To this end, the nonlinear control method on the basis of the sliding mode techniques has been implemented that provides ride comfort, improve safety performance, and maintain maneuverability. To address the tradeoff between the challenge issue in these systems in terms of maneuverability and rollover prevention capability, we formulate an artificial intelligence-based multi-criteria genetic algorithms. The simulation verification analysis indicates that the utilized optimum...

Proceedings of the ... American Control Conference, 2007

In this paper we apply recent results from robust control to the problem of rollover prevention in automotive vehicles. Specifically, we exploit the results of Pancake, Corless and Brockman, which provide controllers to robustly guarantee that the peak magnitudes of the performance outputs of an uncertain system do not exceed certain values. We use the dynamic Load Transfer Ratio LT R d as a performance output for rollover prevention, and design active-steering based rollover controllers to keep the magnitude of this quantity below a certain level, while we use control input u as an additional performance output to limit the maximum amount of control effort. We present numerical simulations to demonstrate the efficacy of our controllers.

Applied Mechanics and Materials, 2014

The objective of this paper is to design a linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controllers for an active anti-roll bar system. The use of an active anti-roll bar will be analysed from two different perspectives in vehicle ride comfort and handling performances. This paper proposed the basic vehicle dynamic modelling with four degree of freedom (DOF) on half car model and are described that show, why and how it is possible to control the handling and ride comfort of the car, with the external forces also control strategies on the front anti-roll bar. By simulation analysis, the design model is validity and the performance under control of linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controller are achieved. Both two controllers are modeled in MATLAB/SIMULINK environment. It has to be determined which control strategy delivers better performance with respect to roll angle and the roll rate of half vehicle body. The result shows, however, that LQG produced better response compared to a LQR strategy.

This paper contributes to increase knowledge about a Model Predietive Control (MPC) approach to un tripped rollover prevention of heavy vehicles which make a panic lane change maneuver in order to avoid an obstacle in

2008

In this paper we present an adaptive controller implementation based on the multiple models, switching, and tuning (MMST) paradigm for preventing un-tripped rollover in automotive vehicles. Our approach relies on differential-braking to keep the value of the Load Transfer Ratio (LT R) below a threshold. We first employ multiple models to infer the unknown center of gravity height and the suspension parameters of the vehicle, which are subsequently used to switch to the corresponding rollover controller. The proposed multi-controller switched scheme is shown via numerical simulations to result in better performance than its fixed robust counterpart.

2010

An active roll control using roll moment rejection algorithm based on 14 DOF full vehicle model is proposed in this paper. For tire model, the Magic Tire formula was used. The full vehicle model was simulated and compared with vehicle dynamics simulation software and validated using an instrumented experimental vehicle. The active roll control algorithm was then introduced to the vehicle model. Combined with PID control, the results were then simulated and analyzed. From the simulation, it was found that the algorithm can significantly reduce the roll angle and roll rate of the vehicle and eventually prevent the vehicle from rollover. The improvement of the roll motion also reduces the load transfer from the inner wheels to outer wheels and hence increases the road holding during cornering.

Journal of Mechanical Science and Technology, 2018

This study's aim was to enhance the maneuverability safety in the coordination of active rear steering and differential braking control for untripped rollover prevention, which performs a panic lane change maneuver to bypass the obstacle encountered in the path. In avoiding rollover accidents, there are several guidance preventions, such as to secure the vehicle from the intention of the driver and to position the vehicle in the actual lane. A crosswind effect is also found to be a crucial factor since this may cause other accidents. Therefore, there is a need to monitor the driver's actual path and maintaining the stability of the vehicle along the desired path in order to avoid rollover accidents. We extended the analysis of Yakub and Mori (2015) [1], by suggesting an explicit model of predictive control, which includes an active rear steering and braking control for each wheel. Our main focus was on the general trade-off between rollover prevention and path tracking. The effectiveness of the explicit control model invented for this study was measured and validated by the simulation results for a heavy vehicle proposed in this research.