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On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for all-terrain vehicles

Abstract : Rollover is the principal cause of serious accidents for All-Terrain Vehicles (ATV), especially for light vehicles (e.g.quad bikes). In order to reduce this risk, the development of active devices, contributes a promising solution. With this aim, this paper proposes an algorithm allowing to predict the rollover risk, by means of an on-line estimation of a stability criterion. Among several rollover indicators, the Lateral Load Transfer (LLT) has been chosen because its estimation needs only low cost sensing equipment compared to the price of a light ATV. An adapted backstepping observer associated to a bicycle model is first developed, allowing the estimation of the grip conditions. In addition, the lateral slope is estimated thanks to a classical Kalman filter relying on measured acceleration and roll rate. Then, an expression of the LLT is derived from a roll model taking into account the grip conditions and the slope. Finally, the LLT value is anticipated by means of a prediction algorithm. The capabilities of this system are investigated thanks to full scale experiments with a quad bike.
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https://hal.archives-ouvertes.fr/hal-00665035
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Submitted on : Wednesday, February 1, 2012 - 10:10:15 AM
Last modification on : Monday, May 18, 2020 - 2:34:28 PM
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  • HAL Id : hal-00665035, version 1
  • IRSTEA : PUB00034448

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M. Richier, R. Lenain, Benoît Thuilot, C. Debain. On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for all-terrain vehicles. IROS'11, IEEE/RSJ International conference on intelligent robots and systems, Sep 2011, San Francisco, United States. p. - p. ⟨hal-00665035⟩

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