Vehicle Rollover Control Using Steering and Braking Actuators
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Solution Overview
Problem
Existing rollover prevention systems for wheeled ground vehicles often require additional actuators not commonly available on most vehicles, making them costly and impractical for widespread implementation.
Innovation Solution
A multi-mode rollover mitigation control system that utilizes existing control actuators like the steering wheel and braking system with minimal modification, incorporating a Rollover Prevention (RP) mode, Rollover Arrest (RA) mode, and Rollover Restoration (RR) mode, and employs a bandwidth adaptation scheme to adjust controller bandwidths in real-time for stability and tracking performance trade-offs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If additional actuators are used for rollover prevention, then rollover protection effectiveness is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies multi-functionality by enabling existing actuators (steering system and braking system) to perform both their primary functions and rollover prevention functions. The steering actuator provides both trajectory tracking and rollover mitigation by adjusting steering angles, while the braking system provides both deceleration and rollover prevention through differential braking, eliminating the need for dedicated rollover prevention actuators.
Solution Approach 2:
The system implements self-service by having the existing control actuators serve the dual purpose of normal vehicle operation and rollover prevention. The control algorithm automatically detects rollover risk and directs the existing steering and braking systems to counteract the rollover moment, making the system self-sufficient without additional hardware.
2Measurement precision
If controller bandwidth is increased for better tracking performance, then trajectory tracking accuracy is improved, but vehicle stability during rollover mitigation deteriorates
Solution Approach 1:
The patent implements dynamics by making the controller bandwidth adaptive rather than fixed. The bandwidth adjustment mechanism dynamically modifies the controller gains based on the vehicle's operational state, increasing bandwidth during normal operation for accurate trajectory tracking and decreasing bandwidth during rollover events to ensure stability, thus adapting the control system to different operational requirements.
Solution Approach 2:
The system applies parameter changes by modifying the controller bandwidth parameter in response to detected rollover conditions. When rollover is detected, the bandwidth adjustment mechanism changes the controller parameters to reduce aggressive corrections, thereby maintaining vehicle stability during critical mitigation phases while preserving high tracking accuracy during normal operation.
Data Source
AI summary
A rollover prevention and mitigation controller for a vehicle comprising a controller adapted to reduce or reverse lateral force via reduction of the velocity of a vehicle, and manipulation of a steering angle, wherein manipulation of the steering angle reduces or reverses the yaw rate.