Roll Stability and Path Tracking Control Strategy Considering Driver in the Loop

Abstract

A study pointed out that the delay time of the driver's nervous system has a significant effect on the roll stability of the vehicle. However, the existing researches on vehicle rollover prevention control rarely consider the influence of driver factors on vehicle roll stability. Aiming at this problem, a vehicle roll stability and path tracking control strategy considering driver in the loop is proposed to assist different types of drivers. It includes the supervisory decision layer and execution layer. The supervisory decision layer selects the corresponding control mode according to the driver's steering wheel angle change rate, path tracking deviation and vehicle roll stability information. The execution layer includes three modes: human-machine shared steering, active braking and integrated chassis control. The human-machine shared steering and active braking modes assist the driver to improve the roll stability and path tracking accuracy. The integrated chassis control mode is used for the automatic driving of vehicles under emergency conditions. Simulation results show that the proposed control strategy can effectively improve the vehicle roll stability and path tracking accuracy, and reduce the driver's operating burden. INDEX TERMS Roll stability, path tracking, human-machine sharing, coordinated control, integrated control.

Adaptive terminal sliding mode trajectory tracking control with fixed‐time prescribed performance considering rollover stability of autonomous vehicles

“…Additionally, integrated vehicle dynamics control of yaw and roll planes is crucial for overall stability and safety, making it a key focus of autonomous driving research. 2 Trajectory tracking control, as an important part of vehicle autonomous driving, is receiving more and more attention. 3 During trajectory tracking, the tracking performances are inevitably affected by external disturbances, [4][5][6] including road conditions, wind, and so forth, as well as the uncertainties including vehicle parameters and simplified models.…”

“…Achieving high‐performance vehicle motion control requires considering robustness, steady‐state and transient performances. Additionally, integrated vehicle dynamics control of yaw and roll planes is crucial for overall stability and safety, making it a key focus of autonomous driving research 2 …”

Event-Triggered Robust Path Tracking Control Considering Roll Stability Under Network-Induced Delays for Autonomous Vehicles

“…Recently, sport utility vehicles have become a growing trend. These vehicles are more prone to rollover accidents because of their high center of mass position with a narrow wheelbase [6], [7]. Due to the aforementioned reasons, researchers have focused on the vehicle roll stability control (RSC).…”

Rollover Prevention Control for Autonomous Electric Road Sweeper

“…To prevent the AERS from rolling over, a rollover prevention scheme is proposed in this paper. To date, several rollover prevention controls or schemes have been proposed for passenger or commercial heavy vehicles [24][25][26][27][28][29][30]. In the literature, differential braking, active steering, active suspension, and torque vectoring devices have been adopted as actuators for rollover prevention.…”

“…However, all of the the actuators used in previous research cannot be used for rollover prevention because the AERS only has rear-wheel drive with a single motor. On the other hand, recent research has investigated both the rollover prevention and path tracking controls simultaneously [27][28][29]. For the AERS, the path tracking controller is needed to follow a pre-defined path.…”