This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Yaw Stability Control and Emergency Roll Control for Vehicle Rollover Mitigation
ISSN: 0148-7191, e-ISSN: 2688-3627
Published October 05, 2010 by SAE International in United States
Annotation ability available
In this paper a yaw stability control algorithm along with an emergency roll control strategy have been developed. The yaw stability controller and emergency roll controller were both developed using linear two degree-of-freedom vehicle models. The yaw stability controller is based on Lyapunov stability criteria and uses vehicle lateral acceleration and yaw rate measurements to calculate the corrective yaw moment required to stabilize the vehicle yaw motion. The corrective yaw moment is then applied by means of a differential braking strategy in which one wheel is selected to be braked with appropriate brake torque applied. The emergency roll control strategy is based on a rollover coefficient related to vehicle static stability factor. The emergency roll control strategy utilizes vehicle lateral acceleration measurements to calculate the roll coefficient. If the roll coefficient exceeds some predetermined threshold value the emergency roll control strategy will deploy. The emergency roll strategy consists of actuators located near the vehicle suspension that apply an upward force to the vehicle body to counter the roll direction.
This paper also incorporates the yaw stability control algorithm and the emergency roll control strategy in vehicle simulation software to test their performance. The vehicle simulation software includes non-linear, multiple degree of freedom models for several vehicle components, including tires, suspension, steering, and aerodynamics. Simulations have been run on a simulated vehicle performing severe emergency manoeuvres on various driving surfaces for potential tripped and untripped rollover incidents. The performance of a vehicle equipped with both the yaw stability controller and emergency roll controller was compared to a vehicle equipped with just the yaw stability controller and also compared to an uncontrolled vehicle. Vehicle lateral acceleration, lateral velocity, yaw rate, and roll angle were observed for the three cases. It was found that during a potential untripped rollover situation the yaw stability controller can significantly improve the vehicle yaw stability which leads to improved vehicle roll stability. It was also found that the addition of the emergency roll control further improves the vehicle roll stability. The results also showed that during a potential tripped rollover in which a vehicle strikes an object while moving laterally the likelihood of rollover is decreased for a vehicle equipped with yaw stability control, while the addition of the emergency roll control does not do much to help prevent tripped rollovers.
|Technical Paper||Design of Observer for Vehicle Stability Control System|
|Technical Paper||Development of Integrated Chassis Control for Limit Handling|
|Technical Paper||Robust Vehicle Stability Controller based on Multiple Sliding Mode Control|
CitationHopkins, B., Taheri, S., Ahmadian, M., and Reid, A., "Yaw Stability Control and Emergency Roll Control for Vehicle Rollover Mitigation," SAE Technical Paper 2010-01-1901, 2010, https://doi.org/10.4271/2010-01-1901.
- Palkovics, L., Semsey, A., Gerum, E., “Roll-over prevention system for commercial vehicles - additional sensorless function of the electronic brake system.” Vehicle System Dynamics, Vol. 32, p. 285-297, 1999.
- Chen, B-C., Peng, H., “Differential-braking-based rollover prevention for sport utility vehicles with human-in-the-loop evaluations.” Vehicle System Dynamics, Vol. 36 (4-5), p. 359-389, 2001.
- Guvenc, B.A., Acarman, T., Guvenc, L., “Coordination of steering and individual wheel braking actuated vehicle yaw stability control.” IEE Conf., 2003.
- Karbalaei, R., Ghaffari, A., Kazemi, R., Tabatabaei, S.H., “A new intelligent strategy to integrated control of AFS/DYC based on fuzzy logic.” International Journal of Mathematical, Physical and Engineering Sciences 1; 1, p. 47-52, 2007.
- Lu, J., Messih, D., Salib, A., “Roll rate based stability control - the Roll Stability Control ™ system.”
- Tamaddoni, S.H., Taheri, S., “A new control algorithm for vehicle stability control”, ASME Proc. Of 10th Intl. Conf. on Advanced Vehicle and Tire Technologies (AVTT), NY, USA, 2008.
- Tamaddoni, S.H. and Taheri, S., “Yaw Stability Control of Tractor Semi-Trailers,” SAE Technical Paper 2008-01-2595, 2008, doi:10.4271/2008-01-2595.
- Odenthal, D., Bunte, T., Ackerman, J., “Nonlinear steering and braking control for vehicle rollover avoidance”, in European Control Conference. 1999.
- Yoon, J., Kim, D., Yi, K., (2007) “Design of a rollover index-based vehicle stability control scheme”, Vehicle System Dynamics, 45: 5, 459-475
- Yu, H., Güvenç, L., Özgüner, Ü. (2008) “Heavy duty vehicle rollover detection and active roll control”, Vehicle System Dynamics, 46: 6, 451-470
- Kim, S.J., Park, Y.J., Park, Y.S. “Design of active suspension and ESP for rollover prevention,” KSAE Spring Conference, 2005.