Reference Governor Strategies for Vehicle Rollover Avoidance

被引：36

作者：

Bencatel, Ricardo ^{[1
]}

Tian, Ran ^{[1
]}

Girard, Anouck R. ^{[1
]}

Kolmanovsky, Ilya ^{[1
]}

机构：

[1] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48109 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2018年 / 26卷 / 06期

关键词：

Active steering; command governor; constraint enforcement; nonlinear control; reference governor (RG); rollover avoidance; rollover protection; SYSTEMS;

D O I：

10.1109/TCST.2017.2753168

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of vehicle rollover avoidance using reference governors (RGs) applied to modify the driver steering input in vehicles with an active steering system. Several RG designs are presented and tested with a detailed nonlinear simulation model. The vehicle dynamics are highly nonlinear for large steering angles, including the conditions where the vehicle approaches a rollover onset, which necessitates RG design changes. Simulation results show that RG designs are effective in avoiding rollover. The results also demonstrate that the controllers are not overly conservative, adjusting the driver steering input only for very high steering angles.

引用

页码：1954 / 1969

页数：16

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