HEAVY VEHICLE STABILITY AND ROLLOVER PREVENTION VIA SWITCHING MODEL PREDICTIVE CONTROL

摘要

This study contributes to enhancing the maneuverability safety for coordination of active rear steering and direct yaw moment control for un-tripped rollover prevention that makes a panic lane change maneuver to avoid an obstacle in the path. At the same time of avoiding rollover accidents, prohibiting the vehicle from the driver's intended and the vehicle's actual lane, and the effect of crosswind is also important, since it may yield other accidents. Thus, it is necessary to track the driver's desired path as closely as possible while preventing the vehicle from rollover, and maintaining the vehicle stability along the desired path. Here, we start from the results presented by Lee et al., and then, we extend and propose the switching model predictive control which uses direct yaw moment control and active rear steer. Simultaneously, the trade-off between rollover prevention and path tracking is highlighted, and the effectiveness of using switching controllers designed for the trade-off solution is also confirmed through simulation results.