Rollover prevention system dedicated to ATVs on natural ground

M. Richier (1) , R. Lenain (1) , Benoît Thuilot (2) , C. Debain (1)

1 UR TSCF - Technologies et systèmes d'information pour les agrosystèmes
2 LLAIC1 - Laboratoire de Logique, Algorithmique et Informatique

In this paper, an algorithm dedicated to light ATVs, which estimates and anticipates the rollover, is proposed. It is based on the on-line estimation of the Lateral Load Transfer (LLT), allowing the evaluation of dynamic instabilities. The LLT is computed thanks to a dynamical model split into two 2D projections. Relying on this representation and a low cost perception system, an observer is proposed to estimate on-line the terrain properties (grip conditions and slope), then allowing to deduce accurately the risk of instability. Associated to a predictive control algorithm, based on the extrapolation of riders action, the risk can be anticipated, enabling to warn the pilot and to consider the implementation of active actions.

Mots clés: STABILITE DE VEHICULE; MODELISATION; PENTE; SOL; GLISSEMENT DE VEHICULE; DYNAMIC STABILITY; LATERAL LOAD TRANSFER; LATERAL ROLLOVER; LIGHT ALL TERRAIN VEHICLE; MODELING; OBSERVERS; QUAD BIKES; SLIDING; SLOPE

Domaines: Sciences de l'environnement

M. Richier, R. Lenain, Benoît Thuilot, C. Debain. Rollover prevention system dedicated to ATVs on natural ground. Applied Mechanics and Materials, 2012, 162, p. 505 - p. 514. ⟨10.4028/www.scientific.net/AMM.162.505⟩. ⟨hal-00765926⟩