Dynamics modeling and nonlinear observer design for vehicle rollover avoidance

被引：0

作者：

Chen, Chang-Fang ^{[1
]}

Shu, Ming-Lei ^{[1
]}

Yang, Ming ^{[1
]}

Wei, Nuo ^{[1
]}

机构：

[1] Natl Supercomp Ctr Jinan, Shandong Comp Sci Ctr, Shandong Prov Key Lab Comp Networks, Jinan 250014, Peoples R China

来源：

PROCEEDINGS OF THE 2ND ANNUAL INTERNATIONAL CONFERENCE ON ELECTRONICS, ELECTRICAL ENGINEERING AND INFORMATION SCIENCE (EEEIS 2016) | 2016年 / 117卷

基金：

中国国家自然科学基金;

关键词：

Rollover prevention; Vehicle dynamics; Roll angle; Nonlinear observer; Asymptotically stable; Linear matrix inequalities; INDEX;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

A real-time accurate detecting the risk of an impending vehicle rollover is essential for active rollover avoidance systems. To this end, a 4DOF nonlinear vehicle roll dynamics model is developed, which fully exploit the coupling effects between the yaw dynamics, lateral dynamics, and roll dynamics. An asymptotically stable observer is presented by using the mean value theorem of vectorial form, and the observer gain is derived based on linear matrix inequalities (LMIs). The simulations demonstrate that the developed nonlinear observer can provide reliable estimation of the vehicle states, even under aggressive driving conditions.

引用

页码：896 / 909

页数：14

共 10 条

[1] Hierarchical Adaptive Path-Tracking Control for Autonomous Vehicles [J].