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Vehicle Dynamics Control for Rollover Prevention

Schofield, Brad LU (2006) In Research Reports TFRT-3241
Abstract
Vehicle rollover accidents are a particularly dangerous form of road accident. Existing vehicle dynamics controllers primarily deal with yaw stability, and are of limited use for dealing with problems of roll instability. This thesis deals with the development of a new type of vehicle dynamics control system, capable of preventing rollover accidents caused by extreme maneuvering. A control strategy based on limitation of the roll angle while following a yaw rate reference is presented. Methods for rollover detection are investigated. A new computationally–efficient control allocation strategy based on convex optimization is used to map the controller commands to the individual braking forces, taking into account actuator constraints.... (More)
Vehicle rollover accidents are a particularly dangerous form of road accident. Existing vehicle dynamics controllers primarily deal with yaw stability, and are of limited use for dealing with problems of roll instability. This thesis deals with the development of a new type of vehicle dynamics control system, capable of preventing rollover accidents caused by extreme maneuvering. A control strategy based on limitation of the roll angle while following a yaw rate reference is presented. Methods for rollover detection are investigated. A new computationally–efficient control allocation strategy based on convex optimization is used to map the controller commands to the individual braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers. (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
keywords
Rollover Prevention, Control Allocation, Nonlinear Control, Convex Optimization, Vehicle Dynamics
in
Research Reports TFRT-3241
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
ISSN
0280-5316
language
English
LU publication?
yes
id
2da67918-8b8b-4a81-b8c6-8671fdb4beaf (old id 1043929)
date added to LUP
2016-04-01 15:49:06
date last changed
2018-11-21 20:36:36
@misc{2da67918-8b8b-4a81-b8c6-8671fdb4beaf,
  abstract     = {Vehicle rollover accidents are a particularly dangerous form of road accident. Existing vehicle dynamics controllers primarily deal with yaw stability, and are of limited use for dealing with problems of roll instability. This thesis deals with the development of a new type of vehicle dynamics control system, capable of preventing rollover accidents caused by extreme maneuvering. A control strategy based on limitation of the roll angle while following a yaw rate reference is presented. Methods for rollover detection are investigated. A new computationally–efficient control allocation strategy based on convex optimization is used to map the controller commands to the individual braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers.},
  author       = {Schofield, Brad},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Licentiate Thesis},
  publisher    = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  series       = {Research Reports TFRT-3241},
  title        = {Vehicle Dynamics Control for Rollover Prevention},
  url          = {https://lup.lub.lu.se/search/ws/files/4481358/5149776.pdf},
  year         = {2006},
}