Lateral acceleration potential field function control for rollover safety of multi-wheel military vehicle with in-wheel-motors

This article proposes an automatic longitudinal deceleration based method for multi-wheel vehicle rollover safety in autonomous mode. The information of lateral acceleration and vehicle roll angle is used to generate the longitudinal acceleration at which the vehicle will remain stable to rollover. The lateral and roll dynamics are coupled with longitudinal dynamics using a potential field function for lateral acceleration. This virtual potential field is developed on g-g diagram which represents vehicle portrait of lateral and longitudinal acceleration on abscissa and ordinate respectively. The motion of vehicle is represented by a point moving on this phase portrait of g-g diagram. TruckSim model of multi-wheel military vehicle with in-wheel motors is used with this algorithm which shows that the vehicle is less susceptible to rollover. The safe longitudinal acceleration is achieved by torque control of in-wheel motors fitted in each wheel. Using this method, the vehicle followed the desired trajectory as higher speeds which are safe. This is particularly useful for vehicle autonomous driving with rollover stability.

[1]  Chang-Soo Han,et al.  Motion Control of a 6WD/6WS wheeled platform with in-wheel motors to improve its maneuverability , 2015 .

[2]  Kyongsu Yi,et al.  Design of an unified chassis controller for rollover prevention, manoeuvrability and lateral stability , 2010 .

[3]  Kyongsu Yi,et al.  Design of a rollover index-based vehicle stability control scheme , 2007 .

[4]  Huei Peng,et al.  Rollover Warning for Articulated Heavy Vehicles Based on a Time-to-Rollover Metric , 2005 .

[5]  Jean-Christophe Fauroux,et al.  Modeling, experimenting, and improving skid steering on a 6 × 6 all‐terrain mobile platform , 2010, J. Field Robotics.

[6]  Junmin Wang,et al.  Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling , 2014 .

[7]  Erik Dahlberg,et al.  A Method Determining the Dynamic Rollover Threshold of Commercial Vehicles , 2000 .

[8]  Kyongsu Yi,et al.  Skid Steering-Based Control of a Robotic Vehicle with Six in-Wheel Drives , 2010 .

[9]  Kyongsu Yi,et al.  Development of a Driving Control Algorithm and Performance Verification Using Real-Time Simulator for a 6WD/6WS Vehicle , 2011 .

[10]  Yoichi Hori,et al.  Future vehicle driven by electricity and Control-research on four-wheel-motored "UOT electric march II" , 2004, IEEE Transactions on Industrial Electronics.

[11]  Masato Abe,et al.  How the four wheels should share forces in an optimum cooperative chassis control , 2004 .

[12]  Rajesh Rajamani,et al.  A New Predictive Lateral Load Transfer Ratio for Rollover Prevention Systems , 2013, IEEE Transactions on Vehicular Technology.

[13]  Ossama Mokhiamar,et al.  Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control , 2004 .

[14]  Makoto Yamakado,et al.  Evaluation of preview G-Vectoring control to decelerate a vehicle prior to entry into a curve , 2013 .

[15]  J.-C. Fauroux,et al.  Modeling, experimenting, and improving skid steering on a 6 × 6 all-terrain mobile platform , 2010 .

[16]  H. Yu,et al.  Heavy duty vehicle rollover detection and active roll control , 2008 .

[17]  Atsushi Yokoyama,et al.  Improvement in vehicle agility and stability by G-Vectoring control , 2010 .

[18]  Kyongsu Yi,et al.  Development of Driving Control System Based on Optimal Distribution for a 6WD/6WS Vehicle , 2010 .

[19]  Tore Hägglund,et al.  Optimal control allocation in vehicle dynamics control for rollover mitigation , 2008, 2008 American Control Conference.

[20]  Ossama Mokhiamar,et al.  Experimental verification using a driving simulator of the effect of simultaneous optimal distribution of tyre forces for active vehicle handling control , 2005 .

[21]  E. Harry Law,et al.  Investigation of Rollover, Lateral Handling, and Obstacle Avoidance Maneuvers of Tactical Vehicles , 2006 .

[22]  Philippe Bidaud,et al.  Dynamic yaw and velocity control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  Kyongsu Yi,et al.  Unified Chassis Control for Rollover Prevention and Lateral Stability , 2009, IEEE Transactions on Vehicular Technology.

[24]  Jianyong Cao,et al.  Study on Integrated Control of Vehicle Yaw and Rollover Stability Using Nonlinear Prediction Model , 2013 .