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- Title
Vehicle trajectory challenge in predictive active steering rollover prevention.
- Authors
Ghazali, Mohammad; Durali, Mohammad; Salarieh, Hassan
- Abstract
High center of mass vehicles are likely to rollover in extreme maneuvers. Available works present control strategies to prevent rollover. In these works, however, other important parameters such as path trajectory tracking are not a main concern. In this paper conflicts between rollover prevention and trajectory tracking is investigated. Model predictive control (MPC) is adopted to predict and avoid rollover while tracking desired trajectory. For this regard a model based future error estimation is introduced. The control framework predicts both rollover and trajectory error simultaneously. It avoids rollover while tries to track the trajectory. Simulation results for two controllers with and without trajectory tracking are presented. The results indicate that the controllers effectively limit rollover as a hard constraint while the trajectory tracking controller also minimizes and recovers the path error.
- Subjects
PREDICTIVE control systems; AUTOMATIC control systems; ROLLOVER vehicle accidents; ROBOTIC trajectory control; AUTOMOBILES
- Publication
International Journal of Automotive Technology, 2017, Vol 18, Issue 3, p511
- ISSN
1229-9138
- Publication type
Article
- DOI
10.1007/s12239-017-0051-3