A new concept of rollover index (ROI) has been developed from the lateral kinetic energy of a vehicle using only ESP sensor signals. Also, the rollover control algorithm has been developed to work with the existing production brake actuator that is somewhat slow for the purpose of the rollover control. The simulation results in several driving conditions show that the developed ROI represents the rollover propensity fairly accurately with enough lead time. An adaptive observer has been designed to observe the roll angle and to update the vehicle C.G. height information. The stability and the performance of the developed adaptive observer have been proven by Lyapunov analysis and evaluated by computer simulation. The defined ROI can be further enhanced by including the calculated roll energy and updating the C.G. height information in real time adaptively. The ESP signal lead compensators have been designed to cancel the lag effect of the brake actuation. The compensators lead the raw signals significantly without any side effects. A simple but very efficient brake sub-loop controller has been designed to further cancel the brake actuation lag effect. The new concept of the rollover avoidance control has been implemented on a test vehicle. The test results show that the rollover prevention control is very robust for the fishhook type maneuvers with 100 kg of load on the roof top up to the speed of 110 km/h and beyond. Any noticeable false activation of the brake has not been observed. The controlled wheel pressure and the slip are very smooth, and therefore the ride quality is not harsh during the controls. Also, the vehicle stays maneuverable during the control.


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    Title :

    Practical vehicle rollover avoidance control using energy method


    Additional title:

    Praktische Regelung zur Verhütung von Fahrzeugüberschlag unter Anwendung der Energiemethode


    Contributors:

    Published in:

    Vehicle System Dynamics ; 46 , 4 ; 323-337


    Publication date :

    2008


    Size :

    15 Seiten, 11 Bilder, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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