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Untripped SUV Rollover Detection and Prevention

Johansson, Björn (2004) In MSc Theses
Department 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:
author
Johansson, Björn
supervisor
organization
year
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},
  keyword      = {Rollover,sport utility vehicle,vehicle dynamics,control allocation,convex optimization},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Untripped SUV Rollover Detection and Prevention},
  year         = {2004},
}