Vehicle rollover warning system based on TTR method with Inertial Measurement

2021 ◽  
Author(s):  
Mengmeng Wang ◽  
Jinhao Liu ◽  
Hongye Zhang ◽  
Linjie Gan ◽  
Xiangbo Xu ◽  
...  
Keyword(s):  
Steady State ◽  
Load Transfer ◽  
Warning System ◽  
Front Wheel ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Matlab Simulink ◽  
Vehicle Rollover ◽  
Rollover Warning

Abstract This paper presents a theoretical and experimental study conducted on the rollover warning of wheeled off-road operating vehicles. The time to rollover (TTR) warning algorithm was studied with real-time vehicle roll angle and roll angle velocity as the input variables, and lateral load transfer ratio (LTR) was used as the rollover determination index. Subsequently, a vehicle dynamics model was built using CarSim software, and a warning algorithm was established in the MATLAB/Simulink environment. The rollover joint simulation in CarSim and MATLAB/Simulink was conducted under typical working conditions. Finally, combined with inertial measurements, a rollover warning system was independently developed. In addition, the rollover warning system was installed on a light forest firefighting truck to verify the feasibility of the system via a real vehicle experiment, and the law of vehicle rollover motion was also studied. The serpentine experiment and steady-state rotation experiment were conducted. The experimental results showed that at identical front-wheel steering angles, the roll angle and lateral acceleration increased with an increase in the vehicle speed. Furthermore, for identical vehicle speeds, the roll angle and lateral acceleration of the vehicle increased with an increase in the front-wheel steering angle. The dangerous vehicle speed was 50 km/h in the serpentine condition and 40 km/h in the steady-state rotation condition. The risk trend and alarm signal obtained by the rollover warning system were consistent with the actual situation. Thus, this can assist drivers in judging the rollover risk and effectively improve the active safety of special vehicles. Furthermore, it also provides a reference for further research on active rollover control technology of special vehicles.

scholarly journals Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 671
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Zhihong Li ◽  
Yunyi Jia
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Active Suspension ◽  
Path Tracking ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Advantages And Disadvantages ◽  
Predictive Controller

To improve the handling stability of automobiles and reduce the odds of rollover, active or semi-active suspension systems are usually used to control the roll of a vehicle. However, these kinds of control systems often take a zero-roll-angle as the control target and have a limited effect on improving the performance of the vehicle when turning. Tilt control, which actively controls the vehicle to tilt inward during a curve, greatly benefits the comprehensive performance of a vehicle when it is cornering. After analyzing the advantages and disadvantages of the tilt control strategies for narrow commuter vehicles by combining the structure and dynamic characteristics of automobiles, a direct tilt control (DTC) strategy was determined to be more suitable for automobiles. A model predictive controller for the DTC strategy was designed based on an active suspension. This allowed the reverse tilt to cause the moment generated by gravity to offset that generated by the centrifugal force, thereby significantly improving the handling stability, ride comfort, vehicle speed, and rollover prevention. The model predictive controller simultaneously tracked the desired tilt angle and yaw rate, achieving path tracking while improving the anti-rollover capability of the vehicle. Simulations of step-steering input and double-lane change maneuvers were performed. The results showed that, compared with traditional zero-roll-angle control, the proposed tilt control greatly reduced the occupant’s perceived lateral acceleration and the lateral load transfer ratio when the vehicle turned and exhibited a good path-tracking performance.

Automobile active tilt based on active suspension with H∞ robust control

2020 ◽  
pp. 095440702096620
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Yanan Bai
Keyword(s):  
Robust Control ◽  
Degrees Of Freedom ◽  
Load Transfer ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Active Suspension ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Roll Moment ◽  
Roll Control

Automobile roll control aims to reduce or achieve a zero roll angle. However, the ability of this roll control to improve the handling stability of vehicles when turning is limited. This study proposes a direct tilt control methodology for automobiles based on active suspension. This tilt control leans the vehicle’s body toward the turning direction and therefore allows the roll moment generated by gravity to reduce or even offset the roll moment generated by the centrifugal force. This phenomenon will greatly improve the roll stability of the vehicle, as well as the ride comfort. A six-degrees-of-freedom vehicle dynamics model is established, and the desired tilt angle is determined through dynamic analysis. In addition, an H∞ robust controller that coordinates different performance demands to achieve the control objectives is designed. The occupant’s perceived lateral acceleration and the lateral load transfer ratio are used to evaluate and explain the main advantages of the proposed active tilt control. To account the difference between the proposed and traditional roll controls, a simulation analysis is performed to compare the proposed tilt H∞ robust control, a traditional H∞ robust control for zero roll angle, and a passive suspension system. The analysis of the time and frequency domains shows that the proposed controller greatly improves the handling stability and anti-rollover ability of vehicles during steering and maintains acceptable ride comfort.

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

Limit Steady State Vehicle Handling

1987 ◽  
Vol 201 (4) ◽  
pp. 281-291 ◽  
Author(s):  
J C Dixon
Keyword(s):  
Steady State ◽  
Load Transfer ◽  
Limit State ◽  
Lateral Acceleration ◽  
Design Parameters ◽  
Centre Of Mass ◽  
Vehicle Handling ◽  
Specific Proposal ◽  
Turning Radius ◽  
Mass Position

Previously, limit steady state handling has always been restricted to the qualitative statement that a vehicle has final understeer or final oversteer; it cannot be analysed by the conventional understeer gradient concept. A specific proposal is made for quantification of final understeer or oversteer. This is called the understeer number, and is defned by Nu = (ArAf)-1, where Af and Ar are the lateral acceleration capabilities of the front and rear axles. Thus Nu is non-dimensional, is zero for a notional final neutral vehicle, positive for final understeer and negative for final oversteer. A typical value is 0.150 (rear drive) or 0.220 (front). The various design parameters that influence the understeer number are investigated, and equations are obtained and quantified, including centre of mass position, lateral load transfer distribution, longitudinal load transfer, traction, the components of aerodynamic forces and moments, the effect of non-free differentials and the effect of load increments. The effect of turning radius and slopes is also investigated. Thus the limit state of handling is subject to a quantitative assessment, showing the degree of a vehicle's commitment to final understeer or oversteer.

Sensitivity Analysis of Vehicle Parameters on Dynamic Stability and Vehicle Handling Performance

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
M.M.M. Salem ◽  
Mina. M Ibrahim ◽  
M.A. Mourad ◽  
K.A. Abd El-Gwwad
Keyword(s):  
Dynamic Stability ◽  
Degrees Of Freedom ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Vehicle Dynamic ◽  
Vehicle Handling ◽  
Bicycle Model ◽  
State Region ◽  
The Mathematical Model

In this paper, a linear two degrees of freedom linear bicycle model is proposed to investigate the vehicle handling criterion. The study is based on simulation developed using MATLAB / Simulink to predict the vehicle dynamic stability. Steering angle is given as an input to the mathematical model for various vehicular manoeuvres. This model is validated using a step input which is adjusted to give 0.3g lateral acceleration. The system model is simulated under a typical front wheel steering to examine the highway vehicle prediction output within its manoeuvre. This input is also adjusted to keep lateral acceleration value in steady state region. It is found that changing the vehicle center of gravity (CG) position, vehicle mass, tire cornering stiffness and vehicle speed all have a significant influence on the vehicle dynamic stability.

Nonlinear Active Rollover Prevention Control Strategies for a 5-Axle Tractor/Semitrailer

2001 ◽  
Author(s):  
A. Scott Lewis ◽  
Moustafa El-Gindy
Keyword(s):  
Active Control ◽  
Load Transfer ◽  
Sliding Mode ◽  
Control Strategies ◽  
Lateral Load ◽  
Lateral Acceleration ◽  
Computer Simulation Model ◽  
Parameter Uncertainties ◽  
Transfer Ratio ◽  
Vehicle Rollover

Abstract This paper presents new active control strategies to prevent heavy vehicle rollover and focuses mainly on cases of maneuver-induced rollover such as rollover in cornering and lane-change maneuvers. Two performance measures as control strategies are explored: the lateral load transfer ratio and the trailer lateral acceleration. A nonlinear 75,000 pound 5-axle tractor/semitrailer computer simulation model has been used to demonstrate the effectiveness of the proposed active control system. A new non-linear sliding mode controller has been designed and found to be effective in improving the dynamic performance and roll stability, regardless of parameter uncertainties, such as tires or suspension characteristics. The controller torque requirement is limited by the differential dynamic braking forces that the tractor drive axles are able to produce as a function of the applied dynamic loads and road surface condition. The results show that with this new controller, the vehicle lateral acceleration can be controlled to prevent rollover without significant change of the vehicle trajectory when active yaw torque is applied to the tractor drive axles. Also, simulation results indicate that the vehicle rollover might be prevented using either the lateral load transfer ratio or the lateral acceleration at the trailer centre of gravity as control strategies.

Design for Vehicle Rollover Warning System

2013 ◽  
Author(s):  
Chun Hsiung Chen ◽  
Chi-Chun Yao ◽  
Yu-Sheng Liao
Keyword(s):  
Warning System ◽  
Vehicle Rollover ◽  
Rollover Warning

scholarly journals Automobile active tilt control based on active suspension

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880145 ◽  
Author(s):  
Jialing Yao ◽  
Zhihong Li ◽  
Meng Wang ◽  
Feifan Yao ◽  
Zheng Tang
Keyword(s):  
Tilt Angle ◽  
Load Transfer ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
Active Suspension ◽  
Degree Of Freedom ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Rollover Prevention

The rolling control of a car that focuses on reducing the roll angle passively has limited performance of increasing handling stability, passing speed, ride comfort, and rollover prevention while turning. This project presents a method for controlling an automobile to tilt toward the turning direction using active suspension. A 6-degree-of-freedom vehicle model with a 2-degree-of-freedom steering model and a 4-degree-of-freedom tilting model is established. The active tilt sliding mode controller, which causes zero steady-state tilt angle error, is established after the desired tilt angle is determined by dynamic analysis. Simulation results confirm the effectiveness of the control method. The proposed controller reduces the perceived lateral acceleration and the lateral load transfer rate, thereby effectively improving handling stability, ride comfort, and vehicle speed, meanwhile decreasing the possibility of rollover while turning.

Vehicle Rollover Warning System Based on MEMS

2013 ◽  
Vol 718-720 ◽  
pp. 1487-1492
Author(s):  
Ru Hai Ge ◽  
Jun Guan ◽  
Cun Jie Shi
Keyword(s):  
Angular Velocity ◽  
Warning System ◽  
Active Safety ◽  
System Software ◽  
Vehicle Rollover ◽  
Multi Level ◽  
Vehicle Test ◽  
Vehicle Active Safety ◽  
Real Vehicle ◽  
Rollover Warning

An ARM11-based vehicle rollover warning system is designed in this paper in order to prevent vehicle rollover occurred while driving. Monitor the vehicle real-time roll angular velocity and roll angle via sensors and Multi-level Recursive Model is used to predict the vehicle roll attitude. When the predicted roll reach to the limit conditions then trigger the alarm to remind driver to be careful and to take appropriate measures, so as to prevent vehicle rollover accidents. Vehicle rollover warning system software is designed based on VB 2005, Matlab and NI Measurement Studio, results between simulation and real vehicle test show that vehicle rollover warning system can predict vehicle rollover timely and accurately, which can improve vehicle active safety.

scholarly journals The Influence of Road Geometry on Vehicle Rollover and Skidding

2020 ◽  
Vol 17 (5) ◽  
pp. 1648 ◽  
Author(s):  
Yanna Yin ◽  
Huiying Wen ◽  
Lu Sun ◽  
Wei Hou
Keyword(s):  
Steady State ◽  
Closed Loop ◽  
Safety Margin ◽  
Front Wheel ◽  
Driving Safety ◽  
Pavement Surface ◽  
Wheel Drive ◽  
Road Geometry ◽  
Vehicle Rollover ◽  
Road Segments

This paper analyzes the influence of single and combined unfavorable road geometry on rollover and skidding risks of D-class mid-sized sport utility vehicles (SUVs) with front-wheel drive for roads with design speeds at 80 km/h. A closed-loop simulation model of human-vehicle-road interactions is established to examine the systematic influence of road geometry on vehicle rollover and skidding. The effects of different road geometry on rollover and skidding on SUVs are studied for pavement surface with good and poor friction when vehicles are in the action of steady state cornering. The rollover and skidding risks of the most unfavorable road segments are assessed. The critical wheel is defined by the threshold of skidding during curve negotiation. The results found that SUVs are not easy to rollover on the most unfavorable roads, regardless of good or poor friction of pavement surface. The safety margin of rollover is greater than that of skidding. The safety margin of skidding is minimal on poor friction roads. Therefore, for the sake of driving safety, it is not recommended to design the roads with these unfavorable road geometry combinations

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