A Switching Rollover Controller Coupled With Closed-Loop Adaptive Vehicle Parameter Identification

This paper presents a real-time adaptive switching controller to mitigate rollover accidents without reducing the performance of the vehicle. The proposed controller relies on adaptive identification of vehicle lateral and vertical dynamics parameters, including the center-of-gravity height that has a major role in rollover. Least squares and Kalman filtering techniques are employed to propose two novel identification algorithms that are robust against speed variations, which can be further coupled effectively with a switching rollover controller while parameter identification is in progress. Extensive simulations are carried out to demonstrate the superior performance of the proposed method.