Rollover prevention for sports utility vehicles with human-in-the-loop evaluations

摘要

An anti-rollover control algorithm based on the Time-To-Rollover (TTR) index is proposed in this paper. A simple model with steering and differential braking inputs was developed to calculate the TTR in real-time. The TruckSim dynamic simulation software is used to verify the final control performance, as well as simulating the dynamics in the driving simulator. Both the simple and complex (TruckSim) models were tuned to match the behavior of a 1997 Jeep Cherokee vehicle up to lateral acceleration of 0.6g. The performance of the proposed control system is compared with other threshold-based control algorithms. Finally, a human-in-the-loop experiment is conducted to study the performance of the proposed algorithm under more realistic driving conditions.