Model predictive rollover prevention for steer-by-wire vehicles with a new rollover index

2018 ◽  
Vol 93 (1) ◽  
pp. 140-155 ◽  
Author(s):  
Mansour Ataei ◽  
Amir Khajepour ◽  
Soo Jeon
Keyword(s):  
Rollover Prevention ◽  
Steer By Wire ◽  
Rollover Index

Optimal Rollover Prevention With Steer by Wire and Differential Braking

2003 ◽  
Author(s):  
Christopher R. Carlson ◽  
J. Christian Gerdes
Keyword(s):  
Predictive Control ◽  
Stability Control ◽  
Roll Angle ◽  
Control Law ◽  
Control Structures ◽  
Yaw Rate ◽  
Rollover Prevention ◽  
Steer By Wire ◽  
Nonlinear Vehicle Model ◽  
Double Lane Change

This paper uses Model Predictive Control theory to develop a framework for automobile stability control. The framework is then demonstrated with a roll mode controller which seeks to actively limit the peak roll angle of the vehicle while simultaneously tracking the driver’s yaw rate command. Initially, control law presented assumes knowledge of the complete input trajectory and acts as a benchmark for the best performance any controller could have on this system. This assumption is then relaxed by only assuming that the current driver steering command is available. Numerical simulations on a nonlinear vehicle model show that both control structures effectively track the driver intended yaw rate during extreme maneuvers while also limiting the peak roll angle. During ordinary driving, the controlled vehicle behaves identically to an ordinary vehicle. These preliminary results shows that for double lane change maneuvers, it is possible to limit roll angle while still closely tracking the driver’s intent.

A general rollover index for tripped and un-tripped rollovers on flat and sloped roads

2017 ◽  
Vol 233 (2) ◽  
pp. 304-316 ◽  
Author(s):  
Mansour Ataei ◽  
Amir Khajepour ◽  
Soo Jeon
Keyword(s):  
Sensitivity Analysis ◽  
Load Transfer ◽  
Soft Soil ◽  
High Fidelity ◽  
State Variables ◽  
Reliable Index ◽  
Analysis And Design ◽  
Rollover Prevention ◽  
Prevention System ◽  
Rollover Index

In order to develop a rollover prevention system, it is essential to have a reliable index that properly indicates real-time rollover danger during vehicle maneuvers. The existing rollover indices are mainly for un-tripped rollovers and have limitations in detecting tripped rollovers. This study introduces a general rollover index (GRI) for the detection of rollover in both tripped and un-tripped cases and also on flat and sloped roads. Based on the lateral load transfer ratio, the proposed index is analytically derived in terms of measurable vehicle parameters and state variables. The general rollover index considers both lateral and vertical road inputs and thus can indicate tripped rollovers in the instance of curbs, soft soil or bumps. Sensitivity analysis for the proposed index is also provided to evaluate the effects of different vehicle parameters and different state variables on tripped and un-tripped rollovers. The introduced index can be used not only for the development of active rollover prevention systems, but also for rollover analysis and design of vehicles. The performance of the introduced general rollover index is validated through simulations using a high-fidelity CarSim model for a SUV.

scholarly journals An Earlier Predictive Rollover Index Designed for Bus Rollover Detection and Prevention

2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Shun Tian ◽  
Lang Wei ◽  
Chris Schwarz ◽  
WenCai Zhou ◽  
Yuan Jiao ◽  
...  
Keyword(s):  
Control System ◽  
Lead Time ◽  
Load Transfer ◽  
Future Trend ◽  
System Model ◽  
Sufficient Time ◽  
Rollover Prevention ◽  
Double Lane Change ◽  
Simulation Results ◽  
Rollover Index

As vehicle rollovers annually cause a great deal of traffic-related deaths, an increasing number of vehicles are being equipped with rollover prevention systems with the aim of avoiding such accidents. To improve the functionality of active rollover prevention systems, this study provided a potential enhanced method with the intention to predict the tendency of the lateral load transfer ratio (LTR), which is the most common rollover index. This will help provide a certain amount of lead time for the control system to respond more effectively. Before the prediction process, an estimation equation was proposed to better estimate the LTR; the equation was validated using Simulink and TruckSim. Further, to eliminate the influence of drawbacks and make this method practical, a buffer operator was added. Simulation results showed that grey LTR (GLTR) was able to roundly predict the future trend of the LTR based on current and previous data. Under the tests of “Sine with Dwell” (Sindwell) and double lane change (DLC), the GLTR could provide the control system with sufficient time beforehand. Additionally, to further examine the performance of the GLTR, a differential system model was adopted to verify its effectiveness. Through the Sindwell maneuver, it was demonstrated that the GLTR index could improve the performance of the rollover prevention systems by achieving the expected response.

scholarly journals Study on Tractor Semi-Trailer Roll Stability Control

2014 ◽  
Vol 8 (1) ◽  
pp. 238-242 ◽  
Author(s):  
Shuwen Zhou ◽  
Siqi Zhang
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Control Method ◽  
Virtual Prototyping ◽  
Stability Control ◽  
Lateral Acceleration ◽  
Acceleration Sensor ◽  
Rollover Prevention ◽  
Time Calculation ◽  
Rollover Index

The rollover accidents in the tractor semi-trailer are often fatal and many factors could cause the tractor semi-trailer rollover. In this paper, a rollover prevention control method was proposed based on real-time calculation of rollover index. The vehicle Center of Gravity (CG) height from the ground is an important parameter in the rollover index and it is estimated through lateral acceleration sensor and suspension deflection sensors. Comparing the rollover index with the preset threshold, the differential braking will be applied to corresponding wheels once the trigger conditions are met. A roll stability control simulation was performed on the dynamic model based on virtual prototyping. The results show that the rollover prevention control proposed in this paper can stabilize the tractor semi-trailer and prevent from rollover on high speed curve driving.

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