Rollover prevention and path following control of integrated steering and braking systems

Abstract

In the process of preventing rollover, the expected path of the driver to achieve better anti-rollover effect is often ignored, which may lead to the deviation of vehicle from the original path. Aiming at this problem, this paper considers both anti-rollover and path tracking performance, and proposes an integrated controller based on active steering and active braking. On the one hand, it can reduce the lateral acceleration and rollover risk by restraining the front wheel angle as tracking the driver’s expected path. On the other hand, through reasonably distributing the braking force of the four tires, it can offset the additional yaw moment caused by uneven distribution and reduce the impact on vehicle trajectory as the risk of rollover occurs. In addition, an improved index of rollover is put forward to give early warning to the future moment and to prevent rollover accident effectively. Simulation and hardware-in-the-loop test results show that the proposed integrated controller can ensure that the vehicle tracks the expected path well and achieves rollover prevention effectively.