Title: Reference trajectory generation for control in single-unit heavy vehicle: focus on rollover prevention

Authors: Yerlan Akhmetov; Lionel Maiffredy; Didier Rémond; Arnaud Sandel; Wilfrid Marquis-Favre; Virginie Harth

Addresses: Université de Lyon, CNRS, INSA-Lyon, LaMCoS UMR5259, F-69621, Villeurbanne, France ' Université de Lyon, CNRS, INSA-Lyon, LaMCoS UMR5259, F-69621, Villeurbanne, France ' Université de Lyon, CNRS, INSA-Lyon, LaMCoS UMR5259, F-69621, Villeurbanne, France ' Université de Lyon, CNRS, INSA-Lyon, LaMCoS UMR5259, F-69621, Villeurbanne, France ' Université de Lyon, CNRS, INSA-Lyon, Laboratoire AMPERE UMR5005, F-69621, Villeurbanne, France ' Renault Trucks – Volvo 3P, Saint-Priest, France

Abstract: The problem of reference trajectory generation for single unit heavy vehicle motion is investigated. The Reference Governor is integrated in the control structure with control allocation. This nonlinear block filters the driver steering inputs in order to modify the reference trajectories in such a manner that if followed by the vehicle the wheels keep contact with the road. The simulation results for a vehicle represented by an 8 DOF nonlinear model and controlled by front active steering and braking systems are performed for fishhook manoeuvre. They demonstrate the effectiveness of the proposed scheme.

Keywords: vehicle dynamics; active safety; control allocation; command governor; reference trajectory generation; vehicle control; heavy vehicles; rollover prevention; simulation; nonlinear modelling; front active steering; braking systems; fishhook manoeuvre.

DOI: 10.1504/IJHVS.2012.049849

International Journal of Heavy Vehicle Systems, 2012 Vol.19 No.4, pp.389 - 406

Available online: 16 Oct 2012 *

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