Nonlinear steering and braking control for vehicle rollover avoidance

Odenthal, Dirk; Bünte, Tilman; Ackermann, J.

doi:10.23919/ecc.1999.7099370

Cited by 98 publications

(83 citation statements)

References 5 publications

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“…Wheel lift-off is important as it is a necessary condition for rollover and can lead to reduced controllability. The load transfer metric, a common expression of contact force distribution, is defined by the difference in normal forces on the left and right side of a vehicle [6,7], as illustrated in Figure 2 and computed with Equation (1).…”

Section: Literature Reviewmentioning

confidence: 99%

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Stability measurement of high-speed vehicles

Peters

Iagnemma

2009

Vehicle System Dynamics

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Vehicle rollover represents a significant percentage of single-vehicle accidents and accounts for over 9000 fatalities and over 200,000 non-fatal injuries each year. Previous research has yielded rollover stability control systems that are effective in on-road conditions. Accident statistics show, however, that over 90% of rollovers involve road departure, during which a vehicle may encounter sloped and rough terrain while travelling at high speed. A critical element of most rollover stability control systems is a metric that monitors a vehicle's nearness to rollover. Most metrics, however, are designed for use on flat, level surfaces characteristic of on-road terrain. In this paper, a new stability metric, termed the stability moment, is proposed that is accurate on terrain surfaces with arbitrary geometry, which allows it to be used in road departure scenarios. The metric is based on an estimate of the distribution of wheel-terrain contact forces. The metric can be calculated on line in real time, using only practical, low-cost sensors. The metric is compared in simulations and experimental studies to existing stability metrics and is shown to exhibit superior performance, particularly in off-road conditions.

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Section: Literature Reviewmentioning

confidence: 99%

“…A variety of yaw stability and roll stability control systems designed for on-road scenarios have been proposed in the literature [6][7][8] and implemented in production passenger vehicles [9]. A critical element of most rollover stability control systems is a metric that monitors a vehicle's nearness to rollover.…”

Section: Introductionmentioning

confidence: 99%

Stability measurement of high-speed vehicles

Peters

Iagnemma

2009

Vehicle System Dynamics

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“…In other words we have n different models corresponding to the different k values. The equations of motion for the models with zero initial conditions can be expressed with (13). While each model is driven by the same input a y , the corresponding identification errors e i are calculated according to (14).…”

Section: B Realtime Estimation Of Cg Heightmentioning

confidence: 99%

“…Although their analysis is useful in demonstrating the relationship between the several physical parameters of vehicles to their handling characteristics, their method can not be employed for realtime estimation purposes. As a last remark we note in the context of rollover prevention that all the methods suggested to date assume a known CG height [2], [3], [8], [9], [10], [11], [12], [13]. However as we have explained, it is particularly unrealistic to assume the CG height to be known, as this parameter can vary significantly with changing passenger and loading conditions especially in large passenger vehicles such as SUVs and there may be significant performance issues related to robust rollover controller designs.…”

mentioning

confidence: 99%

Online Center of Gravity Estimation in Automotive Vehicles using Multiple Models and Switching

Solmaz

Akar

Shorten

2006

2006 9th International Conference on Control, Automation, Robotics and Vision

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Abstract-In this paper we present a methodology based on multiple models and switching for realtime estimation of center of gravity (CG) position in automotive vehicles. The method utilizes simple linear vehicle models and assumes availability of standard stock automotive sensors. We demonstrate the efficacy of our technique with numerical simulations. We also give a simple application example for implementing the idea in automotive vehicles as a switch for rollover controller activation.

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“…In [9], a rollover index (RI) combining the lateral dynamics model-based estimator and vertical dynamics model-based estimator is proposed. Traditionally, some estimation of the vehicle load transfer ratio (LTR) has been used as a basis for the design of rollover prevention systems [10] . The LTR quantity can be simply defined as the difference between the normal forces on the right and left hand sides of the vehicle divided by their sum.…”

Section: Introductionmentioning

confidence: 99%

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

Dahmani

Chadli

Rabhi

2015

Int. J. Autom. Comput.

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Abstract:This article describes a method of vehicle dynamics estimation for impending rollover detection. We estimate vehicle dynamic states in presence of the road bank angle as a disturbance in the vehicle model using a robust observer. The estimated roll angle and roll rate are used to compute the rollover index which is based on the prediction of the lateral load transfer. In order to anticipate rollover detection, a new method is proposed to compute the time to rollover (TTR) using the load transfer ratio (LTR). The nonlinear model, deduced from the vehicle lateral and roll dynamics, is represented by a Takagi-Sugeno (T-S) fuzzy model. This representation is used to account for the nonlinearities of lateral cornering forces. The proposed T-S observer is designed with unmeasurable premise variables to cater for non-availability of the slip angles measurement. The proposed approach is evaluated using CarSim simulator under different driving scenarios. Simulation results show good efficiency of the proposed T-S observer and the rollover detection method.

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Nonlinear steering and braking control for vehicle rollover avoidance

Cited by 98 publications

References 5 publications

Stability measurement of high-speed vehicles

Stability measurement of high-speed vehicles

Online Center of Gravity Estimation in Automotive Vehicles using Multiple Models and Switching

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

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