Path-following in Predictive Rollover Prevention in High CG Vehicles

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Ghazali, Mohammad | 2017

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Type of Document: Ph.D. Dissertation
Language: Farsi
Document No: 49756 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Durali, Mohammad; Salarieh, Hassan
Abstract:
In this thesis vehicle path-following in the presence of rollover risk is investigated. Vehicles with high center of mass are prone to roll instability. Untripped rollover risk is increased in high center of gravity vehicles and high-friction road condition. Some researches introduce strategies to handle the short-duration rollover condition. These strategies, however, yield to trajectory tracking error in semi-static maneuvers. Tracking error may also cause tripped rollover. In some other works rollover is prevented by velocity reduction. Rollover is again probable before sufficient reduction of velocity. This thesis puts stress on tracking error from rollover prevention. A lower level model predictive front steering controller is adopted to deal with rollover and tracking error as a priority sequence. A brake control is included in lower level controller which directly obeys an upper level controller (ULC) command. The ULC manages vehicle speed regarding primarily tracking error. Simulation results show that the proposed control framework maintains roll stability while tracking error is confined to predefined error limit
Keywords:
Model Predictive Control ; Path Following ; Rollover ; Rollover Prevention ; Steering Control ; Brake Control