Vehicle dynamics control and controller allocation for rollover prevention

Brad Schofield; Tore Hägglund; Anders Rantzer

doi:10.1109/CCA.2006.285884

Vehicle dynamics control and controller allocation for rollover prevention

Brad Schofield, Tore Hägglund, Anders Rantzer

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

Vehicle rollover accidents are a particularly dangerous form of road accident. Commercial vehicles are especially prone to rollover accidents due to their high centres of gravity. A nonlinear control strategy is presented which guarantees asymptotic tracking of a yaw rate reference while bounding the roll angle, thus preventing rollover. A new computationally-efficient control allocation strategy is used to map controller commands to braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers

Original language	English
Title of host publication	2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	8-13
Number of pages	6
ISBN (Print)	0-7803-9797-5
DOIs	https://doi.org/10.1109/CCA.2006.285884
Publication status	Published - 2006
Event	2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control - Munich, Germany Duration: 2006 Oct 4 → 2006 Oct 6

Conference

Conference	2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Country/Territory	Germany
City	Munich
Period	2006/10/04 → 2006/10/06

Subject classification (UKÄ)

Control Engineering

Free keywords

control allocation
braking forces
commercial van
yaw rate reference
asymptotic tracking
nonlinear control
commercial vehicles
road accidents
vehicle rollover accidents
rollover prevention
vehicle dynamics control
controller allocation

Access to Document

10.1109/CCA.2006.285884

Cite this

Schofield, B., Hägglund, T., & Rantzer, A. (2006). Vehicle dynamics control and controller allocation for rollover prevention. In 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control (pp. 8-13). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2006.285884

Schofield, Brad ; Hägglund, Tore ; Rantzer, Anders. / Vehicle dynamics control and controller allocation for rollover prevention. 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE - Institute of Electrical and Electronics Engineers Inc., 2006. pp. 8-13

@inproceedings{90069ad813dd4a3ebce234be93f33646,

title = "Vehicle dynamics control and controller allocation for rollover prevention",

abstract = "Vehicle rollover accidents are a particularly dangerous form of road accident. Commercial vehicles are especially prone to rollover accidents due to their high centres of gravity. A nonlinear control strategy is presented which guarantees asymptotic tracking of a yaw rate reference while bounding the roll angle, thus preventing rollover. A new computationally-efficient control allocation strategy is used to map controller commands to braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers",

keywords = "control allocation, braking forces, commercial van, yaw rate reference, asymptotic tracking, nonlinear control, commercial vehicles, road accidents, vehicle rollover accidents, rollover prevention, vehicle dynamics control, controller allocation",

author = "Brad Schofield and Tore H{\"a}gglund and Anders Rantzer",

year = "2006",

doi = "10.1109/CCA.2006.285884",

language = "English",

isbn = "0-7803-9797-5",

pages = "8--13",

booktitle = "2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control ; Conference date: 04-10-2006 Through 06-10-2006",

}

Schofield, B, Hägglund, T & Rantzer, A 2006, Vehicle dynamics control and controller allocation for rollover prevention. in 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 8-13, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, Munich, Germany, 2006/10/04. https://doi.org/10.1109/CCA.2006.285884

Vehicle dynamics control and controller allocation for rollover prevention. / Schofield, Brad; Hägglund, Tore ; Rantzer, Anders.
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE - Institute of Electrical and Electronics Engineers Inc., 2006. p. 8-13.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Vehicle dynamics control and controller allocation for rollover prevention

AU - Schofield, Brad

AU - Hägglund, Tore

AU - Rantzer, Anders

PY - 2006

Y1 - 2006

N2 - Vehicle rollover accidents are a particularly dangerous form of road accident. Commercial vehicles are especially prone to rollover accidents due to their high centres of gravity. A nonlinear control strategy is presented which guarantees asymptotic tracking of a yaw rate reference while bounding the roll angle, thus preventing rollover. A new computationally-efficient control allocation strategy is used to map controller commands to braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers

AB - Vehicle rollover accidents are a particularly dangerous form of road accident. Commercial vehicles are especially prone to rollover accidents due to their high centres of gravity. A nonlinear control strategy is presented which guarantees asymptotic tracking of a yaw rate reference while bounding the roll angle, thus preventing rollover. A new computationally-efficient control allocation strategy is used to map controller commands to braking forces, taking into account actuator constraints. Simulations show that the strategy is capable of preventing rollover of a commercial van during various standard test maneuvers

KW - control allocation

KW - braking forces

KW - commercial van

KW - yaw rate reference

KW - asymptotic tracking

KW - nonlinear control

KW - commercial vehicles

KW - road accidents

KW - vehicle rollover accidents

KW - rollover prevention

KW - vehicle dynamics control

KW - controller allocation

U2 - 10.1109/CCA.2006.285884

DO - 10.1109/CCA.2006.285884

M3 - Paper in conference proceeding

SN - 0-7803-9797-5

SP - 8

EP - 13

BT - 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

Y2 - 4 October 2006 through 6 October 2006

ER -

Schofield B, Hägglund T , Rantzer A. Vehicle dynamics control and controller allocation for rollover prevention. In 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE - Institute of Electrical and Electronics Engineers Inc. 2006. p. 8-13 doi: 10.1109/CCA.2006.285884

Vehicle dynamics control and controller allocation for rollover prevention

Abstract

Conference

Subject classification (UKÄ)

Free keywords

Access to Document

Fingerprint

Cite this