Vehicle trajectory challenge in predictive active steering rollover prevention

High center of mass vehicles are likely to rollover in extreme maneuvers. Available works present control strategies to prevent rollover. In these works, however, other important parameters such as path trajectory tracking are not a main concern. In this paper conflicts between rollover prevention and trajectory tracking is investigated. Model predictive control (MPC) is adopted to predict and avoid rollover while tracking desired trajectory. For this regard a model based future error estimation is introduced. The control framework predicts both rollover and trajectory error simultaneously. It avoids rollover while tries to track the trajectory. Simulation results for two controllers with and without trajectory tracking are presented. The results indicate that the controllers effectively limit rollover as a hard constraint while the trajectory tracking controller also minimizes and recovers the path error.

• Record URL:
  https://doi.org/10.1007/s12239-017-0051-3
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/12299138
• Supplemental Notes:
  • Copyright © 2017, The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg.
• Authors:
  • Ghazali, Mohammad
  • Durali, Mohammad
  • Salarieh, Hassan
• Publication Date: 2017-6

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 511-521
• Serial:
  • International Journal of Automotive Technology
  • Volume: 18
  • Issue Number: 3
  • Publisher: Korean Society of Automotive Engineers
  • ISSN: 1229-9138
  • EISSN: 1976-3832
  • Serial URL: http://link.springer.com/journal/12239

Subject/Index Terms

• TRT Terms: Adaptive control; Automatic controllers; Motor vehicles; Rollover crashes; Simulation; Steering; Trajectory; Vehicle safety
• Uncontrolled Terms: Active steering systems; Model predictive control
• Subject Areas: Highways; Security and Emergencies; Vehicles and Equipment;

Filing Info

• Accession Number: 01635444
• Record Type: Publication
• Files: TRIS
• Created Date: May 25 2017 1:56PM