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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >Roll state estimator for rollover mitigation control
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Roll state estimator for rollover mitigation control

机译：侧倾状态估算器，用于侧翻缓解控制

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This paper describes a new methodology for designing model-based estimators for detecting impending vehicle rollover. Vehicle roll motions are induced by manoeuvring and road disturbances. An estimator is designed on the basis of a three-degree-of-freedom vehicle manoeuvring model and a four-degree-of-freedom half-car suspension model to obtain good estimates of the vehicle roll angle and roll rate in driving situations in which both manoeuvring and road disturbances affect the vehicle roll motions. The estimator uses existing sensors, such as the steering wheel angle sensor, lateral acceleration sensor, and yaw rate sensor, on a vehicle equipped with an electronic stability control system. Since road disturbance is unknown or very expensive to measure, disturbance-decoupled-observer design technique is used in the design of the estimator. The parameter adaptation algorithm can be used for vehicle mass to improve the accuracy of estimator. The performance of the estimator is evaluated through computer simulations using a validated vehicle simulator. It is shown that, with only the sensor measurements already available, good estimates of the roll angle and roll rate can be obtained using the proposed estimator in driving situations in which both manoeuvring and road disturbances affect the vehicle roll motions. A rollover index that indicates rollover danger has been computed using the measured lateral acceleration and yaw rate, and the estimated roll angle and roll rate. The rollover index computed using the estimated states is shown to be a good measure for the danger of vehicle rollover.
机译：本文介绍了一种用于设计基于模型的估计器以检测即将发生的车辆侧翻的新方法。车辆侧倾运动是由操纵和道路干扰引起的。基于三自由度的车辆操纵模型和四自由度的半车悬架模型来设计估算器，以便在以下情况下获得对车辆侧倾角和侧倾率的良好估算：操纵和道路干扰都会影响车辆的侧倾运动。估算器使用配备有电子稳定性控制系统的车辆上的现有传感器，例如方向盘角度传感器，横向加速度传感器和横摆率传感器。由于道路干扰未知或测量成本很高，因此在估计器的设计中使用了干扰解耦观察器设计技术。参数自适应算法可用于车辆质量，以提高估计量的准确性。估计器的性能通过使用经过验证的车辆模拟器的计算机模拟进行评估。结果表明，只有传感器测量值已经可用，在操纵和道路干扰都影响车辆侧倾运动的驾驶情况下，使用建议的估算器可以很好地估算侧倾角和侧倾率。已使用测得的横向加速度和横摆率以及估算的侧倾角和侧倾率计算出指示侧倾危险的侧倾指数。使用估计状态计算出的侧翻指数显示出很好的衡量车辆侧翻危险的指标。

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