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Vehicle trajectory challenge in predictive active steering rollover prevention

Ghazali, M ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1007/s12239-017-0051-3
  3. Abstract:
  4. High center of mass vehicles are likely to rollover in extreme maneuvers. Available works present control strategies to prevent rollover. In these works, however, other important parameters such as path trajectory tracking are not a main concern. In this paper conflicts between rollover prevention and trajectory tracking is investigated. Model predictive control (MPC) is adopted to predict and avoid rollover while tracking desired trajectory. For this regard a model based future error estimation is introduced. The control framework predicts both rollover and trajectory error simultaneously. It avoids rollover while tries to track the trajectory. Simulation results for two controllers with and without trajectory tracking are presented. The results indicate that the controllers effectively limit rollover as a hard constraint while the trajectory tracking controller also minimizes and recovers the path error. © 2017, The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg
  5. Keywords:
  6. Automobile steering equipment ; Control strategies ; Controllers ; Model predictive control ; Predictive control systems ; Steering ; Active steering ; Trajectory ; Desired trajectories ; High-center-of-mass vehicles ; Rollover prevention ; Trajectory tracking ; Trajectory tracking controllers ; Vehicle trajectories ; Trajectories
  7. Source: International Journal of Automotive Technology ; Volume 18, Issue 3 , 2017 , Pages 511-521 ; 12299138 (ISSN)
  8. URL: https://link.springer.com/article/10.1007/s12239-017-0051-3