Enhancing Rollover Prevention and Vehicle Stability of Heavy Vehicle under Disturbance Effect

Abstract:

This study enhances the model predictive control for coordination of active rear steering and direct yaw moment control maneuvers for rollover prevention, lane change maneuver, and vehicle stability in heavy vehicle system under the influence of front steering angle as a disturbance to the system. A single-track mode of lateral-yaw motions based on a linearized vehicle model with linear tire characteristics is used for controller design, while the vehicle model used includes roll dynamic motion for the double-track model with a nonlinear tire model. We tested the vehicle at middle forward speed and we propose braking control algorithm based on left and right of rear wheels instead of front and rear wheels. The simulation results show the proposed coordinated control yielded better performance for rollover prevention, and also useful to maintain and enhance vehicle stability along the desired path, and has the ability to eliminate the effect of disturbance.

• Periodical: Applied Mechanics and Materials (Volume 695)
• Pages: 596-600
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.695.596
• Online since: November 2014
• Authors: Fitri Yakub*, Yasuchika Mori
• Keywords: Crosswind Disturbance, Heavy Vehicle, Lane Change Control, Model Predictive Control, Rollover Prevention, Vehicle Stability

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DOI: 10.1109/ram.2013.6758574