차량 전복 방지 제어를 위한 모델 기반 통합 롤 상태 추정기 설계

Abstract

This paper describes a model-based roll state estimator for the detection of impending vehicle rollover. The vehicle rollover is induced by maneuvering and road disturbances. An estimator is designed based on two simple roll models. One is a three-degree of freedom vehicle lateral dynamics model to estimate the maneuvering induced roll motion. The other is a four-degree of freedom half-car suspension model to estimate the road disturbance induced roll motion. These model-based estimators use signals from steering wheel angle, lateral acceleration, yaw rate, and vertical acceleration which are available on a vehicle equipped with Vehicel Stability Contorl(VSC) System and a Continous Damping Control (CDC) System. It is shown by simulation study that the proposed roll state estimator can provide good estimates of the roll motion.