Vehicle trajectory challenge in predictive active steering rollover prevention

In the process of preventing rollover, the expected path of the driver to achieve better anti-rollover effect is often ignored, which may lead to the deviation of vehicle from the original path. Aiming at this problem, this paper considers both anti-rollover and path tracking performance, and proposes an integrated controller based on active steering and active braking. On the one hand, it can reduce the lateral acceleration and rollover risk by restraining the front wheel angle as tracking the driver’s expected path. On the other hand, through reasonably distributing the braking force of the four tires, it can offset the additional yaw moment caused by uneven distribution and reduce the impact on vehicle trajectory as the risk of rollover occurs. In addition, an improved index of rollover is put forward to give early warning to the future moment and to prevent rollover accident effectively. Simulation and hardware-in-the-loop test results show that the proposed integrated controller can ensure that the vehicle tracks the expected path well and achieves rollover prevention effectively.

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Coordinated Control of Active Steering and Differential Braking Using Extended Command Governor for Rollover Avoidance

Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems ◽

10.1115/dscc2017-5033 ◽

2017 ◽

Author(s):

Ran Tian ◽

Ricardo Bencatel ◽

Anouck Girard ◽

Ilya Kolmanovsky

Keyword(s):

Closed Loop ◽

Load Transfer ◽

Coordinated Control ◽

Steering Control ◽

Closed Loop Systems ◽

Active Steering ◽

Safe State ◽

Nonlinear Vehicle Model ◽

Previous Design ◽

Vehicle Trajectory

This paper develops an Extended Command Governor (ECG) for coordinated control of active steering and differential braking to prevent a vehicle from rolling over when undergoing aggressive maneuvers. The ECG modifies commands to well-designed closed-loop systems when necessary to prevent constraint violations. In this paper, the ECG is applied to a nonlinear vehicle model to maintain the vehicle in a safe state. For rollover avoidance, the ECG is designed to intervene and modify the driver’s input steering and braking commands when it predicts these signals may be unsafe and cause violation of the Load Transfer Ratio constraint. Simulation results show that the ECG can successfully detect and correct the unsafe commands to prevent constraint violation. Moreover, the ECG also behaves less conservatively than a previous design that used active steering control only. Specifically, the ECG described in this work allows the vehicle trajectory to stay closer to the desired trajectory.

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A methodology for the design of robust rollover prevention controllers for automotive vehicles: Part 2-Active steering

2007 American Control Conference ◽

10.1109/acc.2007.4282618 ◽

2007 ◽

Cited By ~ 9

Author(s):

Selim Solmaz ◽

Martin Corless ◽

Robert Shorten

Keyword(s):

Rollover Prevention ◽

Active Steering

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Robust active steering control for vehicle rollover prevention

International Journal of Modelling Identification and Control ◽

10.1504/ijmic.2019.10023532 ◽

2019 ◽

Vol 32 (1) ◽

pp. 70

Author(s):

Kang Huang ◽

Ke Shao ◽

Jinchuan Zheng

Keyword(s):

Steering Control ◽

Rollover Prevention ◽

Active Steering ◽

Vehicle Rollover ◽

Active Steering Control

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Robust active steering control for vehicle rollover prevention

International Journal of Modelling Identification and Control ◽

10.1504/ijmic.2019.101956 ◽

2019 ◽

Vol 32 (1) ◽

pp. 70 ◽

Cited By ~ 1

Author(s):

Ke Shao ◽

Jinchuan Zheng ◽

Kang Huang

Keyword(s):

Steering Control ◽

Rollover Prevention ◽

Active Steering ◽

Vehicle Rollover ◽

Active Steering Control

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H∞ control of integrated rollover prevention system based on improved lateral load transfer rate

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218773527 ◽

2018 ◽

Vol 41 (3) ◽

pp. 859-874 ◽

Cited By ~ 2

Author(s):

Wanzhong Zhao ◽

Lin Ji ◽

Chunyan Wang

Keyword(s):

Control System ◽

Transfer Rate ◽

Evaluation Method ◽

Load Transfer ◽

Strong Stability ◽

Lateral Load ◽

Rollover Prevention ◽

Active Steering ◽

Active Front Steering ◽

Prevention System

A rollover dynamic model that merges the active front steering model and differential braking model is established in this paper. After analyzing and improving the existing rollover evaluation method, a new evaluation method that takes both sprung mass and under-sprung mass into consideration is proposed. The reliability of the improved LTR (lateral load transfer rate) is confirmed by simulation results obtained from MATLAB and CARSIM where, all of three evaluation methods are taken under the same condition. The accuracy of the rollover evaluation index depends on the centroid height of under-sprung mass and the ratio of under-sprung mass and under-sprung mass. In order to achieve the desired tracking effect and anti-jamming capability, an integrated rollover control system based on active steering and differential braking is designed where a H∞ controller is adopted. The results of simulation under J-turn condition indicate that the control system has strong stability and robustness. When the vehicle is under the risk of rollover and reaches the setting threshold, the designed H∞ controller will actively keep the vehicle under the critical state.

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