Abstract
This paper describes a rollover index (RI)-based rollover mitigation control (RMC) scheme. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using roll angle, roll rate, lateral acceleration and time to wheel lift (TTWL). A model-based roll estimator has been designed to estimate the roll angle and roll rate of the vehicle body using a linearized three degrees-of-freedom simple model and extended Kalman filter with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. A RMC threshold has been determined from the rollover index. The performance of the roll estimator and the RMC scheme, and the effectiveness of the proposed rollover index are illustrated through simulation results.
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