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Keywords: Vehicle dynamics control, rollover avoidance, active steering, robust control, absolute stability.
Abstract
Steering and braking control is applied to avoid rollover of
road vehicles. The control concept presented is composed
of three feedback loops: Continuous operation steering
control, emergency steering control and emergency braking control. In continuous operation the roll rate and the
roll acceleration are fed back by velocity scheduled gains to
the front wheel steering angle. Thereby, the vehicles roll
damping is robustly improved for a wide range of speed
and height of the center of gravity. The latter may change
for example with a truck from ride to ride. A rollover coefficient is defined that basically depends on the lateral acceleration at the center of gravity of the vehicles sprung
mass. For critical values of this variable the emergency
steering and braking system is activated. The rollover coefficient is also used for nonlinear feedback to the front
wheel steering angle. The control concept is evaluated by
linear sensitivity analysis and by simulations. Additionally, absolute stability of the steering control concept is
verified using Popovs criterion.
Introduction
in particular when the CG height varies severely according to different payloads. From common sense it is clear
that the ratio of the track width and the CG height is
the most important parameter affecting vehicle rollover
risk. The track width is a fixed parameter whereas the
CG height is either (nearly) fixed (e.g. passenger cars) or
uncertain subject to varying loadings (e.g. trucks). In [1]
an online estimation method was presented which allows
to determine the height of the CG. Hence, we assume the
CG height to be known and constant during operation.
Present vehicle dynamics control systems using individual wheel braking (e.g. Electronic Stability Program, ESP
[2]) or active steering (e.g. Robust Steering Control, [3])
have been primarily established for passenger cars with a
low CG. These concepts can in general help to avoid skidding and thus help to avoid tripped rollover. However,
until now, the primary task of individual wheel braking
and active steering has been the stabilization of the yaw
motion.
In [4] a new approach was presented focussing on
rollover avoidance by active steering. There, an actuator
sets a small auxiliary front wheel steering angle in addition to the steering angle commanded by the driver. The
aim was to robustly decrease the rollover risk due to transient roll overshoot of the vehicles body when performing
lane change or obstacle avoidance maneuvers. The control
law consists of proportional feedback of both the roll rate
and the roll acceleration. The gains were fixed according to robustness and performance considerations in parameter space and time domain. The resulting controller
was shown to robustly reduce the maximum roll angle
overshoot after steering input steps for large variations of
the CG height in particular at high velocity. Moreover,
the roll damping was robustly improved. In [5] this controller was modified by gain scheduling against velocity
and CG height to achieve comparably good results also at
low speeds and different heights of CG. With this linear
control concept, however, the vehicle may still roll over in
case of too large steering wheel inputs.
In this paper a control concept is presented where the
linear steering control is extended by nonlinear emergency
steering and braking control. Section 2 describes a linear vehicle model which is used for the subsequent linear
z1
z2
CG2
m2 ay,2
m2 g
roll axis
h cos
Vehicle model
y2
y1
The main features of vehicle steering dynamics in a horizontal plane can be described by the single track model
[6]. To take into account the influence of the height of the
CG, this model is extended by the vehicles roll dynamics.
For straight driving at constant speed the following linear
differential equations represent the vehicles lateral, yaw
and roll dynamics:
m v m2 h = (cr lr cf lf ) m v r
v
(1)
(cf + cr ) + cf f
Jz r = (cf lf 2 + cr lr 2 ) r
v
(2)
+ (cr lr cf lf ) + cf lf f
J2,x + m2 h2 + d + (c m2 g h) = m2 h ay,1
(3)
(4)
The system states are the side slip angle of the unsprung
mass, the yaw rate r, the roll angle and the roll rate .
The system input is the front wheel steering angle f .
Numerical values of the parameters of the model, shown
in Tab. 1, are taken from [7]. In the sequel we assume dry
road ( = 1) and the deviation of the height h from its
nominal value to be known (e.g. estimated according to
[1] at the start of each ride).
cf = 582 kN/rad
cr = 783 kN/rad
c = 457 kN m/rad
d = 100 kN/rad
g = 9.81 m/s2
hR = 0.68 m
h = 1.15 m
J2,x = 24201 kg m2
Jz = 34917 kg m2
lf = 1.95 m
lr = 1.54 m
m = 14300 kg
m2 = 12487 kg
=1
T = 1.86 m
hR
CG1
road
m1 g
Fz,R
Fz,L
Rollover coefficient
Fig. 1 illustrates some further physical assumptions for
the derivation of a rollover coefficient. The tire vertical
loads are denoted Fz,L and Fz,R . From the equilibrium
of vertical forces and balance of roll moments a rollover
coefficient R is defined as
Fz,R Fz,L
Fz,R + Fz,L
ay,2
2 m2
(hR + h cos )
+ h sin .
=
mT
g
R=
(5)
2(hR + h) ay,2
,
T
g
(6)
(7)
fx
c
vehicle
actuator
h, v
kp (h, v) + kd (h, v) s
continuous operation
steering control
3.1
1
kR
(s2
concept is extended by adding emergency steering control and finally additional emergency braking control is
applied.
V4
V3
1.53 m
Q
0.77 m
V1
20 km/h
V2
100 km/h v
(9)
3.2
The nonlinear control introduced in this section can be interpreted as an intelligent steering angle limitation such
that rollover on a plane road can be completely avoided.
The key idea is that rollover avoidance is given priority
over lanekeeping because a tipped vehicle is no longer
steerable. To drive the narrowest curve which is physically possible, maximum lateral acceleration must be applied. The lateral acceleration is limited, however, by the
boundary where rollover occurs. This boundary is reached
if the vehicle is steered such that the inner wheels are
just about to lift off the road, corresponding to |R| = 1.
The optimal strategy to keep the narrowest curve possible while avoiding rollover would be to keep |R| = 1.
With some safety margin, this idea is implemented in
a nonlinear steering control law. Therefore, if the mag then the overstepping difference
nitude of R exceeds R,
kR sign(R) (|R| R)
R =
(10)
.
0
|R| R
This strategy works very well as will be shown in section
4. In order to implement the prescribed effect, a dead
zone element is introduced into the emergency steering
feedback loop. The black line in Fig. 4 shows the characteristics of the dead zone with an absolute value threshold
and a slope of kR . This corresponds to the dead zone
of R
R
1 R
1
kR
(11)
(called the Popov plot) lies in the complex z-plane completely on the right hand side of a straight line (called
Popov line)
1
Im {z} = Re {z} +
(12)
k
with arbitrary slope .
To verify absolute stability for the nonlinear steering
control, Fig. 4 shows a Popov sector with slope kR (plotted
gray) which covers the characteristics of the dead zone
element. The depicted Popov plots in Fig. 5 belong to the
vertices of the operating domain. The different linestyles
correspond to those used in Fig. 3. For this analysis, G0 (s)
in eq. (11) is determined as the open loop transfer function
from R to R in Fig. 2. The vehicle and actuator dynamics
20
Im { z }
1/k*R
20
40
60
80
100
10
10
Re { z }
with kR
= 0.39. For the investigations in the sequel, a
slope of kR = 0.35 in the dead zone element was chosen.
Hence, the system is absolutely stable at all investigated
operating points. This is true because all Popov plots lie
to the right hand side of the Popov line. Thus, it is ensured
that no limit cycles occur in the nonlinear steering control
loop.
3.3
Applying braking control requires the application of a nonlinear dynamic model of the vehicle with longitudinal velocity v as an additional state variable and the braking
force fx as an additional input (see Fig. 2). The presentation of this model is omitted here for the sake of brevity.
Note, however, that linearization for straight driving at
constant speed yields eqns. (1) - (3). fx is assumed to act
on CG1 in the vehicles longitudinal direction. The time
delay effect of the brakes is modelled by a first order lag
with a time constant of 0.1 s. The intention of emergency
braking is to make the deviation from the desired course
being induced by emergency steering control as small as
possible. This task is realized by decelerating the vehicle
as soon as the rollover coefficient becomes critical. The
braking action is described by the following relation:
(
0
|R| R
fx =
(13)
0
0
v (km/h)
50
45
4
6
time (s)
4
6
time (s)
60
y (m)
1
0.5
0
0
30
0
4
6
time (s)
30
60
x (m)
90
15
15
10
5
0
0
Simulation results
The simulations were performed using the nonlinear dynamic vehicle model mentioned in section 3.3, assuming
dry road and an unfavourably large height, h = 1.53 m.
Fig. 6 shows the responses of the conventional (dashed
line) and the controlled vehicle (solid line) when a ramplike input signal is applied to the steering wheel angle
s . Both braking control approaches are investigated.
The black solid line corresponds to braking action due to
eq. (13), the gray line is according to eq. (14). This maneuver is similar to driving through a highway exit with increasing curvature (clotoidal transition). After about 3.5 s
the conventional vehicle rolls over. The dashed line ends
with the vehicle rollover, but for the sake of comparability
the simulation is continued until the end of the maneuver
(dotted linestyle). Note that the simulation model is no
longer valid if |R| > 1. The difference of both vehicles
until 3.5 s indicates the effect of the continuous operation
steering control.
Emergency steering and braking control is switched on
after about 3.3 s when the rollover coefficient R implies
that the vehicle is close to rollover, i.e. |R| > 0.9. Due
to the fast and precise steering intervention the rollover
is avoided. However, only little track error occurs in the
vehicles position plot (x, y) in Fig. 6 because the vehicle
is simultaneously decelerated by the emergency braking
system.
Comparably advantageous results were obtained when
other maneuvers, e.g. lane change maneuvers, and variations of v and h were investigated in further simulations.
r (deg/s)
f (deg)
R sign(R) < 0
|R| > R
(14)
55
4
6
time (s)
10
5
0
0
0.4
0.3
4
6
time (s)
4
6
time (s)
0.2
0.1
2
0
ay / g
R
|R|
R
m ax,max
R
m ax,max
|R| R
R sign(R) > 0 ,
|R| > R
(deg)
d/dt (deg/s)
fx =
60
4
6
time (s)
0
0
Conclusions
References
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