Brake Control Combined With Prediction to Prevent the Rollover of Heavy Vehicles

Abstract

In this paper an active brake control to decrease the rollover risk of heavy vehicles is proposed. The brake system is activated when the vehicle comes close to rolling over. To enhance the performance of the active brake, this mechanism is extended with a prediction procedure, in which the critical values are predicted in advance using a short time interval. In order to predict an imminent rollover, an observer-based prediction algorithm is proposed to estimate in advance the load transfers. The control design is based on the Linear Parameter Varying (LPV) Model of yaw-roll dynamics of heavy vehicles. In the control design both the performance demands and the model uncertainties are taken into consideration. The control mechanism is demonstrated in a double lane change maneuver. Copyright c 2005 IFAC

Active steering control for vehicle rollover risk reduction based on slip angle estimation

“…Fig. 14 plots the LTR variations of the vehicles according to (4). It is worth noting that it has a similar trend compared to the lateral acceleration in Fig.…”

“…To prevent rollover, a single strategy of active braking, active steering or active suspension, or a combination of them is investigated by several researchers [3]. Although active braking can prevent rollover fast, it is often with an emergency shocking due to the sharp increasing of braking force [4,5]. Active suspension can reduce the rollover risk by adjusting roll angle, but the rollover risk will not yet be eliminated as long as the vehicle speed or cornering curvature is large enough [6][7][8].…”