Title: Brake control using a prediction method to reduce rollover risk

Authors: P. Gaspar, Z. Szabo, J. Bokor

Addresses: Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary. ' Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary. ' Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary

Abstract: In this paper an active brake control for reducing the rollover risk of heavy vehicles is proposed. The brake system is activated only when the vehicle comes close to rolling over. A parameter dependent gain is applied to the normalised lateral load transfer, since the brake is activated when it has reached the critical value. The control design is based on the Linear Parameter Varying (LPV) model of yaw-roll dynamics of heavy vehicles. In the control design both the performance demands and the model uncertainties are taken into consideration. In order to enhance the performance of the active brake, this mechanism is extended with a prediction procedure, in which the critical values are predicted in advance using a short time interval. The control mechanism is demonstrated in vehicle manoeuvres.

Keywords: linear parameter varying control; state estimation; nonlinear modelling; robust control; recursive identification; vehicle rollover; rollover risk; risk reduction; active brake control; heavy vehicles; lateral load transfer; yaw-roll dynamics; vehicle dynamics.

DOI: 10.1504/IJVAS.2010.035793

International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.2/3/4, pp.126 - 145

Received: 09 Apr 2009
Accepted: 22 Oct 2009
Published online: 04 Oct 2010 *

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