Untripped SUV Rollover Detection and Prevention
(2004) In MSc ThesesDepartment of Automatic Control
- Abstract
- Untripped SUV (Sport Utility Vehicle) rollovers are dangerous and possibly lethal accidents. This thesis address some issues in the detection and prevention of untripped SUV rollovers. Before a rollover can occur, the wheels on one side must lose road contact. The wheel lift-off situation is chosen as the critical situation to be avoided. If wheel lift-off is prevented, then rollover is prevented as well. A new kinetic energy based measure, that indicates an imminent wheel lift-off, is introduced. This measure is used by a gain scheduled LQ (Linear Quadratic) controller to prevent wheel lift-off. The LQ-controller outputs the desired changes of the forces acting on the chassis. These force changes are mapped to braking and traction system... (More)
- Untripped SUV (Sport Utility Vehicle) rollovers are dangerous and possibly lethal accidents. This thesis address some issues in the detection and prevention of untripped SUV rollovers. Before a rollover can occur, the wheels on one side must lose road contact. The wheel lift-off situation is chosen as the critical situation to be avoided. If wheel lift-off is prevented, then rollover is prevented as well. A new kinetic energy based measure, that indicates an imminent wheel lift-off, is introduced. This measure is used by a gain scheduled LQ (Linear Quadratic) controller to prevent wheel lift-off. The LQ-controller outputs the desired changes of the forces acting on the chassis. These force changes are mapped to braking and traction system commands by a control allocator. Three different control allocation approaches were evaluated, including a new convex optimization approach. The convex optimization approach seems to work well. The controller is capable of preventing wheel lift-off in the simulated test cases, and the results are promising. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847983
- author
- Johansson, Björn
- supervisor
- organization
- year
- 2004
- type
- H3 - Professional qualifications (4 Years - )
- subject
- keywords
- Rollover, sport utility vehicle, vehicle dynamics, control allocation, convex optimization
- publication/series
- MSc Theses
- report number
- TFRT-5718
- ISSN
- 0280-5316
- language
- English
- id
- 8847983
- date added to LUP
- 2016-03-18 19:00:49
- date last changed
- 2016-03-18 19:00:49
@misc{8847983, abstract = {{Untripped SUV (Sport Utility Vehicle) rollovers are dangerous and possibly lethal accidents. This thesis address some issues in the detection and prevention of untripped SUV rollovers. Before a rollover can occur, the wheels on one side must lose road contact. The wheel lift-off situation is chosen as the critical situation to be avoided. If wheel lift-off is prevented, then rollover is prevented as well. A new kinetic energy based measure, that indicates an imminent wheel lift-off, is introduced. This measure is used by a gain scheduled LQ (Linear Quadratic) controller to prevent wheel lift-off. The LQ-controller outputs the desired changes of the forces acting on the chassis. These force changes are mapped to braking and traction system commands by a control allocator. Three different control allocation approaches were evaluated, including a new convex optimization approach. The convex optimization approach seems to work well. The controller is capable of preventing wheel lift-off in the simulated test cases, and the results are promising.}}, author = {{Johansson, Björn}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Untripped SUV Rollover Detection and Prevention}}, year = {{2004}}, }