TWO STRATEGIES FOR REDUCING THE ROLLOVER RISK OF HEAVY VEHICLES

Abstract

In this paper different control methods are proposed for the prevention of rollover of heavy vehicles. In the control structure either active anti-roll bars or an active brake mechanism is applied. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamics of the vehicle has a nonlinear structure. Selecting the velocity as a scheduling parameter, a Linear Parameter Varying (LPV) model is constructed. The control design is also based on LPV method, in which both the performance specifications and the model uncertainties are taken into consideration. In the paper the control solutions are demonstrated, the different control methods are analysed and compared with each other. The operation of the control mechanisms are demonstrated in a cornering and a double lane change maneuver.