Citation

Ghazali M, Durali M, Salarieh H. Veh. Syst. Dyn. 2017; 55(1): 121-148.

Copyright

(Copyright © 2017, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2016.1246741

PMID

unavailable

Abstract

In this paper vehicle path-following in the presence of rollover risk is investigated. Vehicles with high centre of mass are prone to roll instability. Untripped rollover risk is increased in high centre of gravity vehicles and high-friction road condition. Researches introduce strategies to handle the short-duration rollover condition. In these researches, however, trajectory tracking is affected and not thoroughly investigated. This paper puts stress on tracking error from rollover prevention. A lower level model predictive front steering controller is adopted to deal with rollover and tracking error as a priority sequence. A brake control is included in lower level controller which directly obeys an upper level controller (ULC) command. The ULC manages vehicle speed regarding primarily tracking error. Simulation results show that the proposed control framework maintains roll stability while tracking error is confined to predefined error limit.

Language: en

Keywords

model predictive control; active front steering; path-following; Rollover prevention