A lateral trajectory tracking control method for intelligent commercial vehicles considering active anti‐roll decision based on Stackelberg equilibrium

Yan, Yang; Wu, Jian; Liu, Xin; Zhao, Ying; Wang, Shuai

doi:10.1049/itr2.12202

Cited by 11 publications

(5 citation statements)

References 41 publications

(47 reference statements)

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“…Active and semi-active suspensionbased rollover prevention may be challenging due to bandwidth, cost, and complexity issues [25], [26]. AARB fails to address driving safety under critical obstacle avoidance and other varying conditions due to bandwidth limitations [27], [28], [29]. A differential braking system adjusts the vehicle's yaw dynamics by generating a correction yaw.…”

Section: A Literature Review On Rollover Detection and Preventionmentioning

confidence: 99%

Integrated Rollover Prevention and Antilock Brake System for Heavy Commercial Road Vehicles

Sukumaran,

Gaurkar,

Subramanian

2023

IEEE Access

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This study introduces a novel approach for enhancing safety in Heavy Commercial Road Vehicles (HCRVs) by combining Rollover Prevention and Antilock Brake System. The primary focus is preventing rollovers through controlled differential braking while avoiding potential wheel lock. The study employs a 3-Degrees of Freedom (3-DoF) model-based strategy for detecting impending rollovers based on the Load Transfer Ratio (LTR). When the rollover prevention algorithm identifies an impending rollover, it employs differential braking to maintain the LTR within predefined thresholds. When drivers intervene or override the rollover prevention algorithm, the ABS algorithm determines the desired brake chamber pressure to avoid the increased risk of wheel lock. The efficacy of the integrated algorithm was evaluated in a Hardware-in-Loop (HiL) setup using Fishhook, Sine with Dwell (SWD), and Ramp steer manoeuvres. The developed integrated algorithm successfully prevents rollovers by employing differential braking, even when the driver engages in panic braking while avoiding wheel lock.

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Section: A Literature Review On Rollover Detection and Preventionmentioning

confidence: 99%

Integrated Rollover Prevention and Antilock Brake System for Heavy Commercial Road Vehicles

Sukumaran,

Gaurkar,

Subramanian

2023

IEEE Access

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“…Commercial vehicles play a crucial role in the global transportation industry, and their intelligence has a wide range of practical applications and commercial value [1]. As an important part of the chassis system of intelligent commercial vehicles, the braking system has been continuously developing in the direction of integration and modularization in recent years.…”

Section: Introductionmentioning

confidence: 99%

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Cui,

Bao,

Guo

et al. 2024

Actuators

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With the development of safety technologies for intelligent commercial vehicles, electronic pneumatic braking systems (EBSs) have been widely used. However, EBS actuators may fail during vehicle operation and thus create safety problems. For this reason, we propose a path-tracking fault-tolerant control strategy under EBS actuator failure in intelligent commercial vehicles. First, in order to be able to characterize different types of brake actuator faults during the EBS differential braking process of a vehicle, a comprehensive fault coefficient for calculating the degree of fault is designed, and a BES generalized fault model is established. Second, the faults are introduced into the fault-tolerant controller through the comprehensive fault coefficients for braking torque calculation and braking pressure allocation. Thus, a vehicle path model with the complete fault coefficients as variable parameters is established. Then, based on the LPV system gain scheduling, a path-tracking LPV/H∞ fault-tolerant controller under EBS actuator faults in commercial vehicles is designed, which is used to solve the safety problem arising from sudden EBS actuator faults. Finally, we conducted experimental validation through hardware-in-the-loop tests. The results demonstrate that the control strategy designed in this paper redistributes the braking torque and synergizes with the steering system to enhance vehicle stability, thereby improving vehicle safety in the EBS failure mode.

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“…This method considers the uncertain factors that can affect the system's stability. In Ref., 30 31,32 active braking, 33 or active suspension, 34 all help to limit rollover. Besides, the integration of nonlinear observers is necessary to enhance roll stability, according to Sun et al 35 Simulations and experiments are carried out to verify the performance of the control methods.…”

Section: Introductionmentioning

confidence: 99%

“…This method considers the uncertain factors that can affect the system's stability. In Ref., 30 Yan et al propose a new trajectory-tracking control solution. According to Yan et al, their research is aimed at improving the effectiveness of active anti-rolling on commercial vehicles.…”

Section: Introductionmentioning

confidence: 99%

Proposing a novel fuzzy control algorithm for automotive active stabilizer bars based on views of roll stability and ride comfort

Nguyen

2023

Proceedings of the Institution of Mechanical Engineers, Part K:

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Using stabilizer bars in cars to limit rollover is a necessity applied to many vehicles today. In this article, the author proposes using a new fuzzy method to control the hydraulic stabilizer bars. Previous studies only focused on improving the roll stability of cars, while this article focuses on ensuring both the roll stability and ride comfort of the vehicle, which is considered the new contribution of the article. Vehicle oscillations are described through a complex nonlinear dynamic model. The MATLAB® application performs the simulation with two specific cases, including fish-hook steering and J-turn steering. According to the findings of this research, the roll angle value is significantly reduced when using active stabilizer bars directed by the novel algorithm. In addition, the risk of the rollover was also strongly reduced for both simulations (there are four-speed thresholds used in each case). For the first case, rollover does not occur when the car utilizes active stabilizer bars, even when travelling at v4 = 100 (km/h). In the other case, the rollover occurs only for the Active situation when travelling at a very high speed. In contrast, this phenomenon occurs in the None situation at v1 and the Passive situation at v2. The results found from this work help to evaluate the performance of the fuzzy control algorithm for active stabilizer bars.

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A lateral trajectory tracking control method for intelligent commercial vehicles considering active anti‐roll decision based on Stackelberg equilibrium

Cited by 11 publications

References 41 publications

Integrated Rollover Prevention and Antilock Brake System for Heavy Commercial Road Vehicles

Integrated Rollover Prevention and Antilock Brake System for Heavy Commercial Road Vehicles

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Proposing a novel fuzzy control algorithm for automotive active stabilizer bars based on views of roll stability and ride comfort

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