In the process of preventing rollover, the expected path of the driver to achieve better anti-rollover effect is often ignored, which may lead to the deviation of vehicle from the original path. Aiming at this problem, this paper considers both anti-rollover and path tracking performance, and proposes an integrated controller based on active steering and active braking. On the one hand, it can reduce the lateral acceleration and rollover risk by restraining the front wheel angle as tracking the driver’s expected path. On the other hand, through reasonably distributing the braking force of the four tires, it can offset the additional yaw moment caused by uneven distribution and reduce the impact on vehicle trajectory as the risk of rollover occurs. In addition, an improved index of rollover is put forward to give early warning to the future moment and to prevent rollover accident effectively. Simulation and hardware-in-the-loop test results show that the proposed integrated controller can ensure that the vehicle tracks the expected path well and achieves rollover prevention effectively.
JangBCMarimuthuRP.Sensitivity analysis of SUV parameters on rollover propensity. Int J Auto Tech2006; 7: 703–714.
2.
National Highway Traffic Safety Administration (NHTSA). www.nhtsa.dot.gov.
3.
TsourapasVPiyabongkarnDWilliamsAC, et al. New method of identifying real-time predictive lateral load transfer ratio for rollover prevention systems. In: 2009 American control conference, St. Louis, MO, 10–12June2009. New York: IEEE.
4.
NamKOhSFujimotoH.Robust yaw stability control for electric vehicles based on active front steering control through a steer-by-wire system. Int J Auto Tech2012; 13: 1169–1176.
5.
LiLLuYWangR.A three-dimensional dynamics control framework of vehicle lateral stability and rollover prevention via active braking with MPC. IEEE T Ind Electron2016; 64: 3389–3401.
6.
RajamaniRPiyabongkarnD.New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control. IEEE T Intell Transp2013; 14: 249–261.
7.
AmerARMumtazMFHaqSWU. Rollover mitigation controller development for three-wheeled vehicle using active front steering. Math Probl Eng2015; 14: 249–261.
8.
YakubFLeeSMoriY.Comparative study of MPC and LQC with disturbance rejection control for heavy vehicle rollover prevention in an inclement environment. J Mech Sci Technol2016; 30: 3835–3845.
9.
AdireddyGShimT.MPC based integrated chassis control to enhance vehicle handling considering roll stability. In: ASME 2011 dynamic systems and control conference and Bath/ASME symposium on fluid power and motion control, vol. 2, Arlington, VA, 31 October–2 November 2011, pp.877–884. New York: IEEE.
10.
ImineHFridmanLMMadaniT.Steering control for rollover avoidance of heavy vehicles. IEEE T Veh Technol2012; 61: 3499–3509.
11.
NagaiMShinoMGaoF.Study on integrated control of active front steer angle and direct yaw moment. JSAE Rev2002; 23: 309–315.
12.
LeeSYakubFKasaharaM, et al. Rollover prevention with predictive control of differential braking and rear wheel steering. In: Proceedings of the 6th IEEE conference on robotics, automation and mechatronics, Manila, 12–15 November 2013, pp.144–149. New York: IEEE.
13.
GasparPSzaboZBokorJ.Tracking control by integrated steering and braking systems using an observer-based estimation. In: European control conference, Kos, 2–5 July 2015, pp.619–624. New York: IEEE.
14.
HongSHedrickJK. Roll prediction-based optimal control for safe path following. In: 2015 American control conference, Chicago, IL, 1–3 July 2015, pp.3261–3266. New York: IEEE.
15.
RajamaniR.Vehicle dynamics and control. New York: Springer, 2012.
16.
ZhaoWFanMWangC.H∞/extension stability control of automotive active front steering system. Mech Syst Sig Pr2019; 11: 621–636.
17.
ZhaoWQinXWangC.Yaw and lateral stability control of Automotive four-wheel steer-by-wire system. IEEE-ASME T Mech2013; 23: 2628–2637.
18.
SmidlVJanousSPeroutkaZ.Improved stability of DC catenary fed traction drives using two-stage predictive control. IEEE T Ind Electron2015; 62: 3192–3201.
19.
PhanomchoengGRajamaniR.Real-time estimation of rollover index for tripped rollovers with a novel unknown input nonlinear observer. IEEE-ASME T Mech2014; 19: 743–754.
20.
ImineHDjemaiM.Switched control for reducing impact of vertical forces on road and heavy vehicle rollover avoidance. IEEE T Veh Technol2015; 65: 4044–4052.
21.
LarishCPiyabongkarnDTsourapasV.A new predictive lateral load transfer ratio for rollover prevention systems. IEEE T Veh Technol2013; 62: 2928–2936.
22.
ZhaoWJiLWangC.H∞ control of anti-rollover strategy based on predictive vertical tire force. T I Meas Control2017; 40: 3587–3603.
23.
YiKHedrickKLeeS-C.Estimation of tire–road friction using observer based identifiers. Veh Syst Dyn1999; 31: 233–261.
24.
RasekhipourYKhajepourAChenS, et al. A potential field-based model predictive path-planning controller for autonomous road vehicles. IEEE T Intell Transp2017; 18: 1255–1267.
25.
WanzhongZLinJChunyanW.H∞ control of integrated rollover prevention system based on improved lateral load transfer rate. T I Meas Control2018; 41: 859–874.
26.
RajamaniR.Vehicle dynamics and control. New York: Springer-Verlag, 2006.
27.
KameshRRaniKY.Novel formulation of adaptive MPC as EKF using ANN model: multiproduct semibatch polymerization reactor case study. IEEE T Neur Net Lear2016; 28: 3061–3073.
28.
BealCEChristian GerdesJ.Model predictive control for vehicle stabilization at the limits of handling. IEEE T Contr Syst T2013; 21: 1258–1269.
29.
ChoiMChoiSB.Model predictive control for vehicle yaw stability with practical concerns. IEEE T Veh Technol2014; 63: 3539–3548.
30.
YoonJChoWKooB, et al. Unified chassis control for rollover prevention and lateral stability. IEEE Trans Veh Technol2009; 58: 596–609.
31.
ChenLYanYMuC.Characteristic model-based discrete-time sliding mode control for spacecraft with variable tilt of flexible structures. IEEE/CAA JAS2014; 63: 42–50.
