This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Active Steering and Anti-Roll Shared Control for Enhancing Roll Stability in Path Following of Autonomous Heavy Vehicle
Technical Paper
2019-01-0454
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
Rollover accident of heavy vehicle during cornering is a serious road safety problem worldwide. In the past decade, based on the active intervention into the heavy vehicle roll dynamics method, researches have proposed effective anti-roll control schemes to guarantee roll stability during cornering. Among those studies, however, roll stability control strategies are generally derived independent of front steering control inputs, the interactive control characteristic between steering and anti-roll system have not been thoroughly investigated. In this paper, a novel roll stability control structure that considers the interaction between steering and anti-roll system, is presented and discussed. The proposed control framework is implemented based on dynamic game theory in which heavy vehicle roll stability can be represented as a dynamic difference game so that its two players, namely the active steering (AS) and active anti-roll bar (AARB) system, can work together to provide more roll stability to the heavy vehicle system during cornering. The interactive control strategy between AS and AARB system is obtained by non-cooperative closed-loop feedback Nash game equilibrium theory to ensure optimal roll stability performance. In order to validate the effectiveness of proposed control strategy in a more comprehensive way, a ℋ∞ optimal roll stability control strategy in which the input of AS is only regarded as the exogenous disturbance, is also presented and used as comparison. Simulation results of double lane change (DLC) maneuver show that the proposed AS-AARB shared control strategy can significantly improve the roll stability as well as lateral stability while ensure desired path tracking performance during cornering.
Recommended Content
Authors
Citation
Liu, Y., Yang, K., He, X., and Ji, X., "Active Steering and Anti-Roll Shared Control for Enhancing Roll Stability in Path Following of Autonomous Heavy Vehicle," SAE Technical Paper 2019-01-0454, 2019, https://doi.org/10.4271/2019-01-0454.Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 |
Also In
References
- Rath , J. , Defoort , M. , and Veluvlu , K. Rollover Index Estimation in the Presence of Sensor Faluts, Unknown Inputs, and Uncertainties IEEE Trans. Intell. Transp. Syst. 17 10 2949 2959 2016
- Imine , H. and Djemai , M. Switched Control for Reducing Impact of Vertical Forces on Road and Heavy-Vehicle Rollover Avoidance IEEE Trans Veh Technol. 65 6 3499 3509 2016
- Vu , V. , Sename , O. , Dugard , L. , and Gaspar , P. Enhancing Roll Stability of Heavy Vehicle by LQR Active Anti-Roll Bar Control Using Electronic Servo Valve Hydraulic Actuators Veh. Syst. Dyn. 55 9 1405 1429 2017
- Imine , H. , Fridman , L. , and Madani , T. Steering Control for Rollover of Heavy Vehicle IEEE Trans Veh Technol. 61 8 3499 3509 2012
- Rajamani , R. and Piyabongkarn , D. New Paradigms for the Integration of Yaw Stability and Rollover Prevention Functions in Vehicle Stability Control IEEE Trans. Intell. Transp. Syst. 14 1 249 261 2013
- Yim , S. , Jeon , K. , and Yi , K. An Investigation into Vehicle Rollover Prevention by Coordinated Control of Active Anti-Roll Bar and Electronic Stability Program Int. J. Control. Autom. Syst 10 2 275 297 2012
- Gaspar , P. , Szaszi , I. , and bokor , J. The Design of a Combined Control Structure to Prevent the Rollover of Heavy Vehicles Eur. J. Control 10 2 148 162 2004
- Ghazali , M. , Durali , M. , and Salarieh , H. Path-Following in Model Predictive Rollover Prevention Using Front Steering and Braking Veh. Syst. Dyn. 55 1 121 148 2017
- Vu , V. , Sename , O. , Dugard , L. , and Gaspar , P. Active Anti-Roll Bar Control Using Electronic Servo Valve Hydraulic Damper on Single Unit Heavy Vehicle 8th IFAC Symposium on Advances in Automotive Control AAC 2016 2016 Sweden 20 23
- Tamaddoni , S.H. , Taheri , S. , and Ahmadian , M. Optimal Preview Game Theory Approach to Vehicle Stability Controller Design Veh. Syst. Dyn. 49 12 1967 1979 2011
- https://www.zf.com/corporate/en_de/products/product_range/commercial_vehicles/trucks_css_reax_gege_mounted.shtml
- Dextreit , C. and Kolmanovsky , I.V. Game Theory Controller for Hybrid Electric Vehicles IEEE Trans. Control Syst. Technol. 22 2 652 663 2014
- Na , X. and Cole , D.J. Game-Theoretic Modelling of the Steering Interaction between a Human Driver and a Vehicle Collision Avoidance Controller IEEE Trans. Hum. Mach. Syst. 45 1 25 38 Feb. 2015
- Ji , X. , Liu , Y. , Na , X. , and Liu , Y. Research on Interactive Steering Control Strategy between Driver and AFS in Different Game Equilibrium Strategies and Information Patterns Veh. Syst. Dyn. 56 9 1344 1374 2018
- Ji , X. , Liu , Y. , He , X. , Yang , K. et al. Interactive Control Paradigm-Based Robust Lateral Stability Controller Design for Autonomous Automobile Path Tracking with Uncertain Disturbance: A Dynamic Game Approach IEEE Trans Veh Technol. 67 8 6906 6920 2018
- Sharp , R.S. and Valtetsiotis , V. Optimal Preview Car Steering Control Veh. Syst. Dyn. 35 101 117 2001
- Sellami , Y. , Imine , H. , Boubezoul , A. , and Cadiou , J. Rollover Risk Prediction of Heavy Vehicles by Reliability Index and Empirical Modelling Veh. Syst. Dyn. 56 3 385 405 2018
- Morrison , G. and Cebon , D. Combined Emergency Braking and Turning of Articulated Heavy Vehicles Veh. Syst. Dyn. 55 5 725 749 2017
- Basar , T. and Olsder , G.J. Dynamic Noncooperative Game Theory Second New York, USA Academic Press 1995
- Basar , T. and Bernhard , P. H Optimal Control and Related Minimax Design Problem: A Dynamic Game Approach Boston, MA, USA Birkhauser 1991