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Research Papers

A Novel Active Rollover Prevention for Ground Vehicles Based on Continuous Roll Motion Detection

[+] Author and Article Information
Fengchen Wang

The Polytechnic School,
Arizona State University,
7442 E. Tillman Avenue, SIM 140,
Mesa, AZ 85212
e-mail: fengchen.w@asu.edu

Yan Chen

Mem. ASME
The Polytechnic School,
Arizona State University,
7171 E. Sonoran Arroyo Mall, PRLTA 330M,
Mesa, AZ 85212
e-mail: yanchen@asu.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received July 6, 2017; final manuscript received August 5, 2018; published online September 26, 2018. Assoc. Editor: Yahui Liu.

J. Dyn. Sys., Meas., Control 141(1), 011010 (Sep 26, 2018) (8 pages) Paper No: DS-17-1341; doi: 10.1115/1.4041201 History: Received July 06, 2017; Revised August 05, 2018

To enhance the performance of vehicle rollover detection and prevention, this paper proposes a novel control strategy integrating the mass-center-position (MCP) metric and the active rollover preventer (ARPer) system. The applied MCP metric can provide completed rollover information without saturation in the case of tire lift-off. Based on the continuous roll motion detection provided by the MCP metric, the proposed ARPer system can generate corrective control efforts independent to tire–road interactions. Moreover, the capability of the ARPer system is investigated for the given vehicle physical spatial constraints. A hierarchical control architecture is also designed for tracking desired accelerations derived from the MCP metric and allocating control efforts to the ARPer system and the active front steering (AFS) control. Cosimulations between CarSim® and MATLAB/SIMULINK with a fishhook maneuver are conducted to verify the control performance. The results show that the vehicle with the assistance of the ARPer system can successfully achieve better performance of vehicle rollover prevention, compared with an uncontrolled vehicle and an AFS-controlled vehicle.

Copyright © 2019 by ASME
Topics: Vehicles , Tires
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References

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Figures

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Fig. 1

The schematic of the novel ARPer system

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Fig. 2

Vehicle roll dynamic model with the ARPer system

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Fig. 3

Accelerations decomposition of the preventer

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Fig. 4

Steering wheel angle for the fishhook maneuver

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Fig. 5

Active rollover preventer system capability evaluation results with respect to various orbit radii

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Fig. 6

Control architecture for vehicle rollover detection and prevention with the ARPer

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Fig. 7

Control efforts transformation from the MCP to the preventer

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Fig. 8

Design of the dynamic weighting function

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Fig. 9

Configuration of cosimulations with CarSim and matlab/simulink

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Fig. 10

Load transfer ratio responses with respect to different masses of the roof cargo box

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Fig. 11

Stable region in the phase portrait of roll angles

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Fig. 12

Load transfer ratio responses for rollover prevention control

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Fig. 13

Moment balances responses for rollover prevention control

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Fig. 14

Roll angle phase portrait

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Fig. 15

Lateral tire force responses for rollover prevention control

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