Stability control of heavy vehicles

Stability control of heavy vehicles

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In this chapter the design of active steering assistance systems for heavy vehicles is discussed. These kinds of systems are oriented to avoid the rollover and prevent lane departure of the vehicle. The methodology herein illustrated is based on the super-twisting algorithm. An estimator relying on high order sliding mode observer is developed in order to get information on the vehicle dynamics, such as lateral acceleration limit and the height of the center of gravity. The lateral position and lateral speed are controlled using sliding mode control in order to ensure the stability of the vehicle and avoid accidents. While in standard practical situations the lateral offset and the relative yaw angle are typically measured and the road curvature can be assumed known, the identification of some relevant parameters of the model needs to be carried out in order to increase the robustness of the control system, as discussed in the chapter. Simulation and experimental results are reported, making reference to a tractor model, in order to show the quality of the presented concept.

Chapter Contents:

  • 5.1 Introduction
  • 5.1.1 Main risks of accidents related to HVs
  • Jackknifing criteria
  • Rollover criteria
  • Lane departure criteria
  • 5.1.2 State of the art review
  • 5.1.3 Main contributions of the chapter
  • 5.2 Vehicle model description
  • 5.3 Stability control approach
  • 5.3.1 Sliding mode observer design
  • States observation
  • Vertical forces estimation
  • 5.3.2 Steering control
  • Rollover avoidance
  • Lane keeping assistance
  • 5.4 Validation results
  • 5.4.1 Rollover avoidance results
  • Chicane test
  • Ramp test
  • 5.4.2 Lane keeping results
  • First test
  • Second test
  • 5.5 Conclusion
  • Acknowledgement
  • References

Inspec keywords: position control; variable structure systems; steering systems; velocity control; vehicle dynamics; road vehicles; observers; mechanical stability

Other keywords: super-twisting algorithm; relative yaw angle; tractor model; stability control; heavy vehicles; lateral acceleration limit; lateral offset; lateral position control; center-of-gravity height; vehicle dynamics; lateral speed control; road curvature; active steering assistance systems; sliding mode control; high order sliding mode observer

Subjects: Road-traffic system control; Simulation, modelling and identification; Vehicle mechanics; Multivariable control systems; Velocity, acceleration and rotation control; Spatial variables control; Buckling and instability (mechanical engineering); Control technology and theory

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