Title :
Steering Control for Rollover Avoidance of Heavy Vehicles
Author :
Imine, Hocine ; Fridman, Leonid M. ; Madani, Tarek
Author_Institution :
Lab. for Road Oper., Perception, Simulations & Simulators (LEPSIS), Paris, France
Abstract :
The aim of this paper is to develop an active steering assistance system to avoid the rollover of heavy vehicles (HV). The proposed approach is applied on a single body model of HV presented in this paper. An estimator based on the high-order sliding mode observer is developed to estimate the vehicle dynamics, such as lateral acceleration limit and center height of gravity. Lateral position and lateral speed are controlled using a twisting algorithm to ensure the stability of the vehicle and avoid accidents. At the same time, the identification of unsprung masses and suspension stiffness parameters of the model have been computed to increase the robustness of the method. Some simulation and experimental results are given to show the quality of the proposed concept.
Keywords :
motion control; observers; road vehicles; stability; steering systems; variable structure systems; vehicle dynamics; velocity control; active steering assistance system; center height of gravity; heavy vehicles; high-order sliding mode observer; lateral acceleration limit; lateral position; lateral speed; rollover avoidance; single body model; steering control; suspension stiffness parameters; twisting algorithm; unsprung masses; vehicle dynamics; vehicle stability; Acceleration; Observers; Roads; Suspensions; Vectors; Vehicles; Wheels; Estimation; identification; rollover; sliding mode control; sliding mode observers; steering control; twisting algorithm; vehicle modeling;
Journal_Title :
Vehicular Technology, IEEE Transactions on
DOI :
10.1109/TVT.2012.2206837