H_∞ control of anti-rollover strategy based on predictive vertical tire force

Abstract

The mainstream rollover evaluation index, lateral load transfer rate (LTR), is commonly used in the rollover control field. However, it is not instant enough to reflect the rollover tendency since it can only reflect the load transfer rate of one side wheels while single rear wheel leaves the ground first during rollover happens. In order to monitor the rollover tendency more instantly and improve the reliability of anti-rollover control system, a new evaluation index called predictive vertical tire force (PVTF) is proposed, which is based on the single vertical tire force and merges both iterative prediction and derivative prediction methods. Meanwhile, an optimization is taken to solve the contradiction between prediction time and deviation. Secondly, using the PVTF as the measurement output, an anti-rollover control system based on active steering is established in this paper. In order to achieve the desired tracking effect and anti-jamming capability, a two-way H∞ controller is adopted in the anti-rollover control system. Lastly, the simulation results of J-turn condition and NHTSA (national highway traffic safety administration) condition are conducted and the results indicate that the anti-rollover control system has strong stability and robustness. Meanwhile, benefit from the pre-warning function of PVTF, the controller is triggered earlier and the vertical tire forces of four wheels are controlled to be positive all the time, which is beneficial for handling stability.

Rollover prevention and path following control of integrated steering and braking systems

“…The error K is defined as follows 22 K = PTLTR À LTR LTR 3100% ð21Þ Figure 6 shows the simulation results of PTLTR and LTR indexes under the NHTSA condition. In Figure 6, the blue curve represents the LTR index, and the yellow, red, and green curves are the PTLTR index with prediction step sizes of 50, 100, and 150, respectively.…”

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

“…According to Mashadi and Mostaghimi, the limited lateral acceleration of Sedans before the rollover is 1.0÷1.2 g, while sport utility vehicles are only 0.85÷0.90 g and large lorries are 0.6÷0.7 g. 18 To help ensure the car's safety when moving, it is necessary to predict the car rollover in advance. In Ref., 19 Zhao et al introduce a new solution to this problem called predictive vertical tyre force. This algorithm is applied to the dynamic model with only 3 DOFs.…”

“…To help ensure the car's safety when moving, it is necessary to predict the car rollover in advance. In Ref., 19 Zhao et al introduce a new solution to this problem called predictive vertical tyre force. This algorithm is applied to the dynamic model with only 3 DOFs.…”

Vehicle stability enhancement and rollover prevention by a nonlinear predictive control method

“…The vehicle control community is also highly interested in the rollover of vehicles, because it is one of the most frequently encountered situations in traffic accidents. Many approaches for preventing the vehicle rollover have been proposed, such as differential braking control (Solmaz et al, 2006; Yim, 2011; Yim et al, 2013; Yoon et al, 2007), active front wheel steering control (Elmi et al, 2013; Solmaz et al, 2007; Zhao et al, 2017), active rear steering control (Zhao et al, 2017), suspension control (Fakhraei et al, 2017; Sahin et al, 2007), drive torque control (Larish et al, 2013), and any combination of chassis control methods (Gaspar et al, 2004; Lu et al, 2012; March and Shim, 2007; Rahimi and Naraghi, 2017; Yoon et al, 2010). Mostly, studies in the literature use a rollover index to detect that the vehicle approaches the limits of rollover in real-time.…”