Rollover accident of heavy vehicle during cornering is a serious road safety problem worldwide. In the past decade, based on the active intervention into the heavy vehicle roll dynamics method, researches have proposed effective anti-roll control schemes to guarantee roll stability during cornering. Among those studies, however, roll stability control strategies are generally derived independent of front steering control inputs, the interactive control characteristic between steering and anti-roll system have not been thoroughly investigated. In this paper, a novel roll stability control structure that considers the interaction between steering and anti-roll system, is presented and discussed. The proposed control framework is implemented based on dynamic game theory in which heavy vehicle roll stability can be represented as a dynamic difference game so that its two players, namely the active steering (AS) and active anti-roll bar (AARB) system, can work together to provide more roll stability to the heavy vehicle system during cornering. The interactive control strategy between AS and AARB system is obtained by non-cooperative closed-loop feedback Nash game equilibrium theory to ensure optimal roll stability performance. In order to validate the effectiveness of proposed control strategy in a more comprehensive way, a ℋ∞ optimal roll stability control strategy in which the input of AS is only regarded as the exogenous disturbance, is also presented and used as comparison. Simulation results of double lane change (DLC) maneuver show that the proposed AS-AARB shared control strategy can significantly improve the roll stability as well as lateral stability while ensure desired path tracking performance during cornering.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Active Steering and Anti-Roll Shared Control for Enhancing Roll Stability in Path Following of Autonomous Heavy Vehicle


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Yang, Kaiming (Autor:in) / He, Xiangkun (Autor:in) / Ji, Xuewu (Autor:in) / Liu, Yulong (Autor:in)

    Kongress:

    WCX SAE World Congress Experience ; 2019



    Erscheinungsdatum :

    2019-04-02




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Active Steering and Anti-Roll Shared Control for Enhancing Roll Stability in Path Following of Autonomous Heavy Vehicle

    Liu, Yulong / Yang, Kaiming / He, Xiangkun et al. | British Library Conference Proceedings | 2019




    Research on autonomous vehicle path tracking control considering roll stability

    Lin, Fen / Wang, Shaobo / Zhao, Youqun et al. | SAGE Publications | 2021


    Vehicle steering roll transmission mechanism and active roll vehicle using same

    WANG YA / WEI WENJUN / LI HAITAO | Europäisches Patentamt | 2022

    Freier Zugriff