Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift

Lapapong, Sittikorn; Brown, Alex; Swanson, K. S.; Brennan, Sean

doi:10.1080/00423114.2012.676652

Cited by 18 publications

(5 citation statements)

References 8 publications

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“…The time-to-rollover method 1,9 and the friction cone method 10,11 have also been proposed by other researchers to determine the rollover indices. Lapapong et al 12 proposed a method to evaluate the propensity for vehicle rollover based on a frequency-domain representation of the zero-moment point using a simplified kinematic model of the vehicle and analysis of the contact point of the vehicle relative to the edge of the support polygon. The Routh–Hurwitz criterion was also used as the basis of the stability conditions to define the dynamic stability factor in order to reveal the effects of the system parameters on the stability of vehicle rollover.…”

Section: Introductionmentioning

confidence: 99%

Active vehicle rollover control using a gyroscopic device

Mashadi

Mokhtari-Alehashem

Mostaghimi

2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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A gyroscopic system is designed and utilized as an actuator for the prevention of vehicle rollover. The vehicle motion before rollover and during rollover is considered in two phases: before lift-off of the wheels and after lift-off of the wheels. The lateral load transfer ratio is used to identify the time when the wheels lift off the ground. Based on the equations of motion for the vehicle on two wheels, an imminent rollover algorithm is designed to specify the rollover risk. A fuzzy controller that determines the required roll moment to stabilize the vehicle is designed. A gyroscopic package is designed to apply the corrective roll torque directly on the rolling mass of the vehicle in the opposite direction to the rollover moments. The performance of the proposed system is investigated by simulating some severe manoeuvres, and the results show that the system is able to stabilize the vehicle successfully.

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Section: Introductionmentioning

confidence: 99%

Active vehicle rollover control using a gyroscopic device

Mashadi

Mokhtari-Alehashem

Mostaghimi

2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Accurate and timely rollover warning is the premise of rollover prevention. Since the influence of terrain is not considered in the derivation of LTR , 33 this section employs the zero moment point (ZMP) as a rollover index. 34 The ZMP is illustrated in Figure 6.…”

Section: Control System Designmentioning

confidence: 99%

Coordinated control strategy of roll-yaw stability and path tracking for centralized drive electric vehicles

Xuan-yao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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Previous anti-rollover studies only focused on reducing the risk of vehicle rollover, which could not guarantee yaw stability and ignored path tracking problems. This paper presents an integrated control scheme for centralized drive electric vehicles to prevent rollover, enhance the yaw stability, and ensure path tracking capability. The integration of stability control is implemented by switching among several control modes which include four control modes: yaw stability control, roll stability control, roll-yaw stability control, and rollover prevention. A differential drive based on direct yaw moment control (DYC) is employed to improve yaw stability, and the roll stability is improved via longitudinal speed control. Then, the DYC-based single-wheel braking is utilized to prevent rollover. Moreover, a model predictive control (MPC) algorithm is adopted to design the path tracking controller, and then the coordinated control scheme is proposed to realize a trade-off between stability control and path following. Simulation results show that the proposed scheme can realize the rollover prevention function while satisfying the path tracking target and yaw stability.

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“…The Zero-Moment Point (ZMP) and the Lateral Load Transfer Ratio (LTR) approach exemplify this kind of method. Lapapong et al [22] assessed vehicle roll stability by comparing the lateral position of ZMP with the wheelbase. The LTR method employs the difference between the left and the right vertical tire load to quantitatively assess vehicle rollover propensity [16], [17].…”

Section: Introductionmentioning

confidence: 99%

A Comprehensive Vehicle Stability Assessment System Based on Enabling Tire Force Estimation

Ding

Wang

Liu

2022

IEEE Trans. Veh. Technol.

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This paper presents an enabling comprehensive vehicle stability assessment system covering vehicle longitudinal, yaw and roll stability. First, the longitudinal, lateral and vertical tire forces are separately estimated using the strong tracking unscented Kalman filter and the conventional Kalman filter based on low-cost on-board sensors. Then, a comprehensive vehicle longitudinal, yaw and roll stability space is established by utilizing the normalized tire friction ellipse and the Load Transfer Ratio value. Finally, the vehicle stability is determined and predicted based on current driver's inputs. The hardware-in-loop experimental results show that the proposed vehicle stability assessment system can accurately estimate the longitudinal, lateral and vertical tire forces with the normalized root mean square errors of 1.87%, 1.07% and 1.43%, and exhibits satisfying performance for vehicle longitudinal, yaw and roll stability evaluation and prediction. This bears significance for the efficient functioning of active control systems to improve vehicle safety under critical driving conditions.

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Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift

Cited by 18 publications

References 8 publications

Active vehicle rollover control using a gyroscopic device

Active vehicle rollover control using a gyroscopic device

Coordinated control strategy of roll-yaw stability and path tracking for centralized drive electric vehicles

A Comprehensive Vehicle Stability Assessment System Based on Enabling Tire Force Estimation

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