Detection of impending vehicle rollover with road bank angle consideration using a robust fuzzy observer

Dahmani, H.; Chadli, Mohammed; Rabhi, Abdelhamid

doi:10.1007/s11633-014-0836-z

Cited by 16 publications

(4 citation statements)

References 23 publications

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“…Odenthal (1999) [24] integrated lateral acceleration into LTR and used lateral acceleration and a roll angle to describe the rollover evaluation index RI2 and verified its accuracy. Phanomchoeng (2013) [25] considered the vertical motion on both sides of the unsprung part and deduced the rollover index considering the external input; Dahmani (2015) [26] analyzed the roll motion of the vehicle and converted the LTR into an indicator expressed by the roll angle to assess the risk of vehicle rollover. Considering the influence of road excitation on vehicle rollover, Jin (2016) [27,28] transformed the LTR into an index called RI, including the vertical acceleration of sprung and unsprung.…”

Section: Introductionmentioning

confidence: 99%

Anti-Rollover Control and HIL Verification for an Independently Driven Heavy Vehicle Based on Improved LTR

Zheng

Lu²,

Li³

et al. 2023

Machines

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The rollover evaluation index provides an important threshold basis for the anti-rollover control system of vehicle. Regarding the rollover risk of independently driven heavy-duty vehicles, a new rollover evaluation index is proposed, and the feasibility of the improved index was verified through hierarchical control and HIL (hardware-in-the-loop) experiments. Based on an 18-DOF spatial dynamics model of a heavy-duty vehicle, the improved LTR (load transfer rate) index was obtained to describe the dynamic change in the tire’s vertical load. It replaces the suspension force and the vertical inertia force of the unsprung load mass. It avoids the problem of directly measuring or estimating the vertical load in the LTR index. Under the conditions of fishhooking and angle stepping, three types of rollover indicators were compared, and the proposed index can more sensitively identify the likelihood of rollover. In order to apply the improved rollover index to a rollover control well, a hierarchical controller based on the identification of the slip rate of the road surface, ABS control with sliding mode, variable structure and differential braking was designed. Simulations and HIL tests proved that the designed controller can accurately predict the rollover risk and avoid the rollover in time. Under the condition of J-turning, the yaw rate, slip angle and maximum lateral acceleration are reduced by 9%, 16% and 3%, respectively; under the condition of fishhooking, the maximum yaw rate, slip angle and lateral acceleration are reduced by 12%, 18% and 3%, respectively.

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Section: Introductionmentioning

confidence: 99%

Anti-Rollover Control and HIL Verification for an Independently Driven Heavy Vehicle Based on Improved LTR

Zheng

Lu²,

Li³

et al. 2023

Machines

View full text Add to dashboard Cite

show abstract

“…Among them, in the aspect of rollover prediction, Yu et al 4 presented a realtime rollover trend prediction to indicate bus rollover risk with road bank estimation. Dahmani et al 5 proposed a new method to calculate rollover time by using lateral load transfer rate. Stankiewicz 6 studied zero-torque and low-order vehicle models, which are used to evaluate the rollover trend and the threat of rollover, respectively.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction

Han

Huang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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Aiming at the rollover risk of heavy-duty vehicles, an adaptive rollover prediction and control algorithm based on identification of multiple road adhesion coefficients is proposed, and the control effect has been verified by hardware-in-the-loop experiments. Based on the establishment of a 3 DOFs (Degree of freedom) vehicle dynamic model, the roll angle of the vehicle dynamic model is estimated in real time by using Kalman filter algorithm. In order to ensure the real-time operation of anti-rollover control strategy for multi-body dynamic heavy vehicle model, a sliding mode variable structure controller for anti-rollover of vehicles is designed to determine the optimal yaw moment. Specially, the recognition algorithm of road surface type is integrated into the control rollover algorithm. When the control system with road recognition algorithm recognizes whether the vehicle is in danger of rollover, it can not only adjust the state of the vehicle, but also shorten the time to reach the stable area of the vehicle's lateral load transfer rate by about 2 s. In order to further improve its adaptability and control accuracy, a Hardware-in-loop test platform for three-axis heavy-duty vehicles is built to verify the proposed anti-rollover control strategy. The results prove that the proposed control strategy can accurately predict the rollover risk and control the rollover in time.

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“…Iida et al 8 verified the effect of vehicle speed on the lateral stability of an articulated vehicle and achieved stability control of the loader through differential braking. Dahmani et al 9 applied a fuzzy observer to the coupling of engineering vehicle and suspension, established a T-S fuzzy model to predict vehicle conditions, and verified that the fuzzy observer is quite reliable. Pazooki et al 10 established a three-dimensional articulated vehicle model with a hydraulic steering system and analyzed the roll stability of vehicle models with and without a suspension on the vehicle rear axle under road excitations.…”

Section: Introductionmentioning

confidence: 99%

Research on roll stability of articulated engineering vehicles based on dynamic lateral transfer load

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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A 16-degree-of-freedom non-linear roll dynamic model is developed for an articulated engineering vehicle considering non-linear road excitations and non-linear characteristics of vehicle structures. In addition, a variable step-size numerical method is proposed to solve the non-linear dynamic model. The proposed numerical method can improve the calculation accuracy and the computational stability. Through the proposed dynamic model, an equation is derived considering time-varying tire load characteristics to reflect the roll stability of an articulated engineering vehicle. Using the proposed roll stability equation, the driving stability can be effectively evaluated for an articulated engineering vehicle with different system parameters. The analysis results show that the roll stability decreases significantly with the increase in vehicle speed, centroid height of engineering vehicle, or lateral slope angle. The influence of vehicle speed and lateral slope angle on roll stability is greater than that of the centroid height of engineering vehicle. When steering on the road with a lateral slope angle, the roll angle and the lateral load transfer ratio curves fluctuate with time. As the lateral slope angle increases, the fluctuation is stronger. Overall, the proposed model can accurately evaluate the roll stability of a driving articulated engineering vehicle and accurately determine the unstable tilting of an articulated engineering vehicle.

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Detection of impending vehicle rollover with road bank angle consideration using a robust fuzzy observer

Cited by 16 publications

References 23 publications

Anti-Rollover Control and HIL Verification for an Independently Driven Heavy Vehicle Based on Improved LTR

Anti-Rollover Control and HIL Verification for an Independently Driven Heavy Vehicle Based on Improved LTR

Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction

Research on roll stability of articulated engineering vehicles based on dynamic lateral transfer load

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