Abstract
This article presents a method that provides an estimate of road bank by decoupling the vehicle roll due to the dynamics and the roll due to the road bank. Suspension deflection measurements were used to provide a measurement of the relative roll between the vehicle body frame and the axle frame or between the sprung mass and the unsprung mass, respectively. A deflection scaling parameter was found via suspension geometry and dynamic analysis. The relative roll measurement was then incorporated into two different kinematic navigation models based on extended Kalman filter (EKF) architectures. Each algorithm was tested and then verified on the Prowler ATV experimental platform at the National Center for Asphalt Technology (NCAT). Experimental data showed that both the cascaded and coupled approach performed well in providing estimates of the current vehicle roll and instantaneous road bank.
Highlights
Vehicle rollover is a topic that has been widely researched by the vehicle community for some time.With the rise in popularity of high center of gravity vehicles, such as sports utility vehicles, rollover has become an important issue for vehicle safety.In 2009, 2.954 trillion miles were traveled by motorists in the United States
The eight-degree banked turns on the National Center for Asphalt Technology (NCAT) oval track were used to verify the η scale factor for the suspension deflection measurements
This work presents a method that provides an estimate of road bank by decoupling the vehicle roll due to dynamics and roll due to the road bank
Summary
Vehicle rollover is a topic that has been widely researched by the vehicle community for some time.With the rise in popularity of high center of gravity vehicles, such as sports utility vehicles, rollover has become an important issue for vehicle safety.In 2009, 2.954 trillion miles were traveled by motorists in the United States. Vehicle rollover is a topic that has been widely researched by the vehicle community for some time. With the rise in popularity of high center of gravity vehicles, such as sports utility vehicles, rollover has become an important issue for vehicle safety. In 2009, 2.954 trillion miles were traveled by motorists in the United States. Among those miles, motor vehicle crashes resulted in 30,797 fatalities [1]. Rollover crashes account for only 3% of vehicle crashes. They lead to approximately one third of all occupant deaths
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