A Robust Active Suspension Controller with Rollover Prevention

Yang, Hanlong; Liu, Louis Yizhang

doi:10.4271/2003-01-0959

Cited by 25 publications

(16 citation statements)

References 10 publications

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“…When only the plane motion of the vehicle is considered, the derivative of the lateral velocity with the vehicle body fixed coordinate is defined as: v y = a y,m − v x γ (9) where, a y,m is the sensor measurement of the lateral acceleration at the CG. If the desired yaw rate exists, the desired lateral acceleration of the vehicle can be expressed kinematically as follows: Because thev y is the lateral acceleration with the vehicle body fixed coordinate in equations (9) and (10), using equations (9) and (10), the desired yaw rate that can produce the desired lateral acceleration is calculated as follows: Figure 11 shows the 2-D vehicle model including direct yaw moment (M z ), and the dynamic equations can be presented as follows: where,…”

Section: Vehicle Stability Control (Vsc)mentioning

confidence: 99%

“…Chen and Peng proposed Time-To-Rollover (TTR) to estimate the time until rollover occurs and performed direct yaw moment control using differential braking [1,5,6]. Hac and Martens described a rollover index using a model-based roll estimator [7,8].Yang and Liu also presented a rollover index that is a combination of rollover indices from influential factors such as the position of the vehicle's center of gravity (CG), the energy of rollover and vertical tire forces [9]. M. H. Kim and J. H. Oh proposed two main rollover criteria, Rotational Kinetic Energy (RKE) and Initial Kinetic Energy (IKE), based on a simple physical model [10].…”

Section: Introductionmentioning

confidence: 99%

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Design of a rollover index-based vehicle stability control scheme

Yoon

Kim

2007

Vehicle System Dynamics

105

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This paper presents a rollover index (RI)-based vehicle stability control (VSC) scheme. A rollover index, which indicates an impending rollover, is developed by a roll dynamics phase plane analysis. A model-based roll estimator is designed to estimate the roll angle and roll rate of the vehicle body with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. The rollover index is computed using an estimated roll angle, estimated roll rate, measured lateral acceleration and time-towheel lift. A differential braking control law is designed using a direct yaw control method. The VSC threshold is determined from the rollover index. The effectiveness of the RI, the performance of the estimator and the control scheme are investigated via simulations using a validated vehicle simulator. It is shown that the proposed RI can be a good measure of the danger of rollover and the proposed RI-based VSC scheme can reduce the risk of a rollover.

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Section: Vehicle Stability Control (Vsc)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a rollover index-based vehicle stability control scheme

Yoon

Kim

2007

Vehicle System Dynamics

105

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“…Rollover prevention systems can be classified into two stages: detection of the danger of vehicle rollover and development of a rollover prevent control algorithm [2]. In order to prevent rollover, first of all the danger of vehicle rollover must be detected and control input to prevent rollover must be applied before wheel lift-off [3] [4]. In the early studies on detection of vehicle rollover, the concept of a static rollover threshold was used, but this is only useful at steady state [3].…”

Section: Introductionmentioning

confidence: 99%

Model-based Estimation of Vehicle Roll State for Detection of Impending Vehicle Rollover

Yoon

Kim

2007

2007 American Control Conference

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This paper describes a new methodology for designing model-based estimators for detection of impending vehicle rollover. Vehicle roll motions are induced by maneuvering and road disturbances. An estimator is designed based on a three-degrees-of freedom vehicle maneuvering model and a four-degrees-of freedom half-car suspension model to obtain good estimates of the vehicle roll angle and roll rate in driving situations in which both maneuvering and road disturbances affect the vehicle roll motions. The estimator uses already existing sensors, such as steering wheel angle sensor, lateral acceleration sensor, and yaw rate sensor, on a vehicle equipped with an electronic stability control (ESC) system. Since road disturbance is unknown or very expensive to measure, disturbance-decoupled-observer design technique is used in the design of the estimator. The performance of the estimator is evaluated through computer simulations using a validated vehicle simulator. It is shown that, only with already available sensor measurements, good estimates of the roll angle and roll rate can be obtained using the proposed estimator in driving situations in which both maneuvering and road disturbances affect the vehicle roll motions. A rollover index that indicates rollover danger has been computed using the measured lateral acceleration and yaw rate, and estimated roll angle and roll rate. The rollover index computed using the estimated states is shown to be a good measure for the danger of vehicle rollover.Index Terms-Model-based estimator, Kalman filter, Vehicle Rollover, Rollover index (RI)

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“…Most of the existing rollover warning systems are based on the ultimate value of roll angle, lateral acceleration or vertical tire force. The rollover warning system will send out a warning signal when the roll angle, lateral acceleration, vertical tire force or the tire deformation etc reaches an ultimate value [2][3][4][5][6]. Yang et al [3] proposed three rollover indices to evaluate the vehicle roll degree based on vertical tire force, roll angle and the concept of energy respectively.…”

Section: Introductionmentioning

confidence: 99%

“…Wielenga et al [15] proposed an anti-rollover braking system (ARB) based on differential braking that can keep the vehicle stable through differential braking when the tire lift-off is detected or the lateral acceleration exceeds the ultimate value. Yang et al [3] designed a robust anti-rollover controller based on active suspension, and proposed a controlling frame integrating braking, steering and suspension.…”

Section: Introductionmentioning

confidence: 99%

Feedforward Compensation Control Based on Steering Angle for Vehicle Roll Stability

Yang

Wang

2007

Mechatronics, 2007 IEEE International Conference On

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The conventional warning feedback control system for vehicle roll stability based ultimate roll angle has much difficulty to regulate the roll behaviour, because the roll velocity is high and the driver has no enough time to take measure when steering with a large longitudinal velocity. In order to overcome the problem, a feedforward compensation control strategy with steering angle for the vehicle stability is proposed. In implementation, the driver's driving intention is judged based on the steering angle and longitudinal velocity and an anti-roll moment is applied to the vehicle body by the active suspension actuator to prevent the vehicle rolling. The results demonstrate that the scheme of feedforward compensation control with steering angle for the vehicle stability can keep the vehicle much more stable than feedback control if the suspension has a large physical limitation range when the vehicle runs at a high speed.

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A Robust Active Suspension Controller with Rollover Prevention

Cited by 25 publications

References 10 publications

Design of a rollover index-based vehicle stability control scheme

Design of a rollover index-based vehicle stability control scheme

Model-based Estimation of Vehicle Roll State for Detection of Impending Vehicle Rollover

Feedforward Compensation Control Based on Steering Angle for Vehicle Roll Stability

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