Rollover Index for Rollover Mitigation Function of Intelligent Commercial Vehicle’s Electronic Stability Control

Abstract

This paper describes a rollover index for detection or prediction of impending rollover in different driving situations using minimum sensor signals which can be easily obtained from an electronic stability control (ESC) system. The estimated lateral load transfer ratio (LTR) was used as a rollover index with only limited information such as the roll state of the vehicle and some constant parameters. A commercial vehicle has parameter uncertainties because of its load variation. This is likely to affect the driving performance and the estimation of the dynamic state of the vehicle. The main purpose of this paper is to determine the rollover index based on reliable measurements and the parameters of the vehicle. For this purpose, a simplified lateral and vertical vehicle dynamic model was used with some assumptions. The index is appropriate for various situations although the vehicle parameters may change. As part of the index, the road bank angle was investigated in this study, using limited information. Since the vehicle roll dynamics are affected by the road bank angle, the road bank angle should be incorporated, although previous studies ignore this factor in order to simplify the problem. Because it increases or reduces the chances of rollover, consideration of the road bank angle is indispensable in the rollover detection and mitigation function of the ESC system. The performance of the proposed algorithm was investigated via computer simulation studies. The simulation studies showed that the proposed estimation method of the LTR and road bank angle with limited sensor information followed the actual LTR value, reducing the parameter uncertainties. The simulation model was constructed based on a heavy bus (12 tons).