Reference trajectory generation for control in single-unit heavy vehicle: focus on rollover prevention

Yerlan Akhmetov (1) , Arnaud Sandel (1) , Lionel Maiffredy (1) , Didier Rémond (1) , Wilfrid Marquis-Favre (2) , Virginie Harth

1 LaMCoS - Laboratoire de Mécanique des Contacts et des Structures [Villeurbanne]
2 AMPERE - Ampère

The problem of reference trajectory generation for single unit heavy vehicle motion is investigated. The Reference Governor is integrated in the control structure with control allocation. This nonlinear block filters the driver steering inputs in order to modify the reference trajectories in such a manner that if followed by the vehicle the wheels keep contact with the road. The simulation results for a vehicle represented by an 8 DOF nonlinear model and controlled by front active steering and braking systems are performed for fishhook manoeuvre. They demonstrate the effectiveness of the proposed scheme.

Domaines: Mécanique des structures [physics.class-ph]; Mécanique des structures [physics.class-ph]

Yerlan Akhmetov, Arnaud Sandel, Lionel Maiffredy, Didier Rémond, Wilfrid Marquis-Favre, et al.. Reference trajectory generation for control in single-unit heavy vehicle: focus on rollover prevention. International Journal of Heavy Vehicle Systems, 2013, 20 (1), pp.1-18. ⟨10.1504/IJHVS.2012.049849⟩. ⟨hal-00735534⟩