차량의 롤 상태추정기를 이용한 Rollover Index 개발

The development of an algorithm that detects impending rollover is described. The algorithm is intended for use in Unified Chassis Control. A Rollover index which indicates a roll danger is developed using roll angle and roll rate phase plane analysis. The Rollover index is calculated using roll angle, roll rate and lateral acceleration. Model-based roll estimator is designed to estimate roll angle and roll rate of vehicle body from lateral acceleration, yaw rate, steering angle and vehicle velocity. Performance of the roll estimator and effectiveness of the proposed rollover index are investigated by computer simulation. The simulation results show that the proposed roll estimator has good performance before wheel-lift-off and the rollover index indicates the rollover danger accurately.