Explicit controller of a single truck stability and rollover mitigation
Document Type
Article
Publication Date
1-1-2018
Abstract
This study’s aim was to enhance the maneuverability safety in the coordination of active rear steering and differential braking control for untripped rollover prevention, which performs a panic lane change maneuver to bypass the obstacle encountered in the path. In avoiding rollover accidents, there are several guidance preventions, such as to secure the vehicle from the intention of the driver and to position the vehicle in the actual lane. A crosswind effect is also found to be a crucial factor since this may cause other accidents. Therefore, there is a need to monitor the driver’s actual path and maintaining the stability of the vehicle along the desired path in order to avoid rollover accidents. We extended the analysis of Yakub and Mori (2015) [1], by suggesting an explicit model of predictive control, which includes an active rear steering and braking control for each wheel. Our main focus was on the general trade-off between rollover prevention and path tracking. The effectiveness of the explicit control model invented for this study was measured and validated by the simulation results for a heavy vehicle proposed in this research.
Keywords
Braking control, Explicit model predictive control, Heavy vehicle, Rear steering, Rollover, Stability
Divisions
fac_eng
Funders
Transportation Systems & Electric Co. under grant number KAKENHI 16K06422
Publication Title
Journal of Mechanical Science and Technology
Volume
32
Issue
9
Publisher
Springer Verlag (Germany)