Roll Stability and Path Tracking Control Strategy Considering Driver in the Loop

Tongliang Xu,Xuanyao Wang

doi:10.1109/access.2021.3067649

Abstract

A study pointed out that the delay time of the driver's nervous system has a significant effect on the roll stability of the vehicle. However, the existing researches on vehicle rollover prevention control rarely consider the influence of driver factors on vehicle roll stability. Aiming at this problem, a vehicle roll stability and path tracking control strategy considering driver in the loop is proposed to assist different types of drivers. It includes the supervisory decision layer and execution layer. The supervisory decision layer selects the corresponding control mode according to the driver's steering wheel angle change rate, path tracking deviation and vehicle roll stability information. The execution layer includes three modes: human-machine shared steering, active braking and integrated chassis control. The human-machine shared steering and active braking modes assist the driver to improve the roll stability and path tracking accuracy. The integrated chassis control mode is used for the automatic driving of vehicles under emergency conditions. Simulation results show that the proposed control strategy can effectively improve the vehicle roll stability and path tracking accuracy, and reduce the driver's operating burden.

Highlights

According to the statistics of the National Highway Traffic Safety Administration (NHTSA), there were 36560 people killed in motor vehicle traffic crashes on US roadways during 2018, and the 2018 number of large-truck occupant fatalities is the highest since 1988 [1]
In order to verify the effectiveness of the proposed control strategy, the double lane change maneuver and the fishhook maneuver are selected as simulation conditions
In order to test the effectiveness of the control strategy, the double lane change maneuver is selected as the simulation condition

Summary

Introduction

According to the statistics of the National Highway Traffic Safety Administration (NHTSA), there were 36560 people killed in motor vehicle traffic crashes on US roadways during 2018, and the 2018 number of large-truck occupant fatalities is the highest since 1988 [1]. Passengers in a rollover accident are 10 times more likely to die than a non-rollover accident [2] Vehicles such as trucks and sport utility vehicles (SUV) are more prone to rollover accidents due to the characteristics of high centroid position, large mass and narrow wheel base. A variety of control methods have been proposed to the field of roll stability control, such as differential braking control [2], [3], active steering control [4], [5], suspension control [6], integrated chassis control [7], [8] It can be seen from the above literature, the existing anti-rollover control methods can reduce the risk of rollover, they ignore

Objectives

Methods

Results

Conclusion