• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.701-705
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• 2014

This article presents a comparison among several yaw and roll motion controllers for vehicle rollover prevention. In the previous research, yaw and roll motion controllers can be independently designed for rollover prevention. Following this idea, several yaw and roll motion controllers are designed and compared in terms of rollover prevention. For the yaw motion control, PID, LQR, SMC (Sliding Mode Control) and TDC (Time-Delay Control) are adopted. For the roll motion control, LQR, LQ SOF (Static Output Feedback) control, PID, and SMC are adopted. To compare the performance of each controller, simulation is performed on a vehicle simulation package, CarSim$^{(R)}$. From simulation, TDC and LQ SOF are the best for yaw and roll motion control, respectively.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.1
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• pp.20-28
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• 2014

This paper presents static output feedback LQ and $H_{\infty}$ controllers for rollover prevention. Linear quadratic static output feedback controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if $H_{\infty}$ controller is designed. To avoid full-state measurement for feedback requirement or sensitiveness of an observer to nonlinear model error, static output feedback is adopted. To design static output feedback controllers, Kosut's method is adopted because it is simple to calculate. Differential braking and active anti-roll bar are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1311-1318
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• 2012

Vehicle systems are frequently exposed to parameter uncertainties such as vehicle speed and height of center of gravity. If a controller is designed to be robust against these parameter uncertainties, the rollover prevention capability can be considerably enhanced. In this study, robust controllers $H_2$ and $H_{\infty}$ are designed by using LMI for vehicle rollover prevention control in the discrete time domain. Some simulations using CarSim, a reliable simulation tool, are performed to validate the proposed controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.646-654
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• 2010

This paper describes an integrated chassis control for a maneuverability, a lateral stability and a rollover prevention of a vehicle by the using of the ESC and AFS. The integrated chassis control system consists of a supervisor, control algorithms and a coordinator. From the measured and estimation signals, the supervisor determines the vehicle driving situation about the lateral stability and rollover prevention. The control algorithms determine a desired yaw moment for lateral stability and a desired longitudinal force for the rollover prevention. In order to apply the control inputs, the coordinator determines a brake and active front steering inputs optimally based on the current status of the subject vehicle. To improve the reliability and to reduce the operating load of the proposed control algorithms, a multi-core ECU platform is used in this system. For the evaluation of this system, a closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1132-1137
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• 2007

This paper describes a Unified Chassis Control (UCC) strategy to prevent vehicle rollover by integrating individual modular chassis control systems such as Electronic Stability Control (ESC) and Continuous Damping Control (CDC). The UCC threshold is determined from a rollover index computed by estimated roll angle, roll rate and measured lateral acceleration. A direct yaw moment control method is used to design the ESC based on a 2-D bicycle model. Similarly, the CDC is designed based on a 2-D roll model using a direct roll moment control method. The performance of the proposed UCC scheme is investigated and compared to that of modular chassis controllers through computer simulations using a validated vehicle simulator. It is shown that the proposed the UCC can lead to improvements in vehicle stability and efficient actuation of chassis control systems.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.50-55
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• 2013

When it comes to commercial vehicles, their unique characteristics - center of gravity, size, weight distribution - make them particularly vulnerable to rollover. On top of that, conventional heavy vehicle brake exhibits longer actuation delays caused in part by long air lines from brake pedal to tires. This paper describes rollover prevention algorithm that copes with the characteristics of commercial vehicles. In regard of compensating for high actuating delay, predicted rollover index with short preview time has been designed. Moreover, predicted rollover index with longer preview time has been calculated by using road curvature information based on environment information. When rollover index becomes larger than specific threshold value, desired braking force is calculated in order to decrease the index. At the same time, braking force is distributed to each tire to make yaw rate track desired value.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.3
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• pp.571-576
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• 2021

The use of forklift trucks in logistical warehouses, etc. is generalized; however, the accidents of rollover of the forklift truck have occurred frequently. In general, in order to solve a problem, many people attempt to solve the problem by using computer simulation or simulators which is composed of reduced hardware. Therefore, in this paper, we analyze the problem existed in forklift truck and we also explain the concept of a mechanism to prevent the rollover of forklift truck. In addition, we propose the configuration of simulator system and a designed simulator to prevent the rollover of forklift truck.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.828-834
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• 2014

This paper presents a comparison among three types of approaches to an ARC (Active Roll Control) with an AARB(Active Anti-Roll Bar) for a vehicle system. Lateral acceleration and road profile are considered as disturbance. The ARC is designed with an LQ SOF (Linear Quadratic Static Output Feedback) control, $H_{\infty}$ control and SMC (Sliding Mode Control). These approaches are compared in terms of rollover prevention and ride comfort. For comparison, Bode plot analysis based on linear model and frequency response analysis based on CarSim simulation are performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.11
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• pp.1429-1436
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• 2013

This study presents an approach for designing a vehicle rollover prevention controller using differential game theory and multi-level programming. The rollover prevention problem can be modeled as a non-cooperative zero-sum two-player differential game. A controller as an equilibrium solution of the differential game guarantees the worst-case performance against every possible steering input. To obtain an equilibrium solution to the differential game with a small amount of computational effort, a multi-level programming approach with a relaxation procedure is used. To cope with the loss of maneuverability caused by the active suspension, an electronic stability program (ESP) is adopted. Through simulations, the proposed method is shown to be effective in obtaining an equilibrium solution of the differential game.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.673-679
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• 2012

Vehicle rollover is a serious kind of accident, particularly for sport utility vehicles, and its occurrence can be minimized by utilizing active rollover prevention systems. The performance of these protection systems is very sensitive to vehicle inertial parameters such as the vehicle's mass and center of mass. These parameters vary with the number of passengers and in different load situations. In this paper, a unified method for vehicle mass estimation is proposed that takes into account the available driving conditions. Three estimation algorithms are developed based on longitudinal, lateral, and vertical vehicle motion, respectively. Then, the three algorithms are combined to extract information on the vehicle's mass during arbitrary vehicle maneuvering. The performance of the proposed vehicle mass estimation method is demonstrated through real-time experiments.