The problem of vehicle RAC (Rollover Avoidance Control) for a general class of human driven vehicles is addressed by applying the novel control method of Invariance Control which allows a nonlinear and non smooth controller design together with a formal proof of stability. Two RACs have been derived: the continuous time RAC provides high driver autonomy at the cost of high computational effort. The time-discrete RAC features real-time computability and robustness with respect to physical parameter perturbations. The disadvantage of the second controller is a slightly reduced driver autonomy compared to the continuous design. The proposed approach is evaluated on a truck-like motor vehicle with an elevated center of mass in a real-time simulation with a human driver in the loop. The interface to the human driver includes a 3D-(Three-Dimensional-)visual display of the road scenario and a force feedback steering device which is used to increase the damping of the human steering action and to provide a haptic interface. The presented strategy leaves a maximum degree of freedom for steering to the driver. In addition a time-discrete rollover avoidance controller suitable for implementation is derived, which is both, robust and real-time computable. The proposed approach is validated by hardware-in-the-loop simulations of the nonlinear vehicle with a human driver in the loop, using a force feedback steering device.
Rollover avoidance for steerable vehicles by invariance control
Regelung zur Überschlagsvermeidung bei Fahrzeugen mit Invarianzregelung
ECC, European Control Conference, 2001 ; 3522-3527
2001
6 Seiten, 6 Bilder, 12 Quellen
Conference paper
Storage medium
English
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