Dual back-stepping observer to anticipate the rollover risk in under/over-steering situations. Application to ATVs in off-road context

Abstract : In this paper an ATV (All-Terrain Vehicle) rollover prevention system is proposed. It is based on the online estimation and prediction of the Lateral Load Transfer (LLT), allowing the evaluation of dynamic instabilities. Using a vehicle model based on two 2D representations, the LLT can be estimated and predicted. As we consider off road vehicle, grip conditions must be encountered and are here estimated thanks to observation theory. Nevertheless, two main behaviours (over/under-steering) may be encountered pending on grip, and vehicle configuration. Because of the low cost sensor, these two opposite dynamics cannot be explicitly discriminated. As a result, two observers are used according to the vehicle behaviour. Based on a bicycle model and a low cost perception system, they estimate on-line the terrain properties (grip conditions, global sideslip angle and bank angle). A "supervisor" selects on-line the right observer. Associated to a predictive control algorithm, based on the extrapolation of rider's action and the selected estimated dynamical state, the risk can be anticipated, enabling to warn the pilot and to consider the implementation of active actions. Simulations and full-scale experimentations are presented to discuss about the efficiency of the proposed solution.
Type de document :
Communication dans un congrès
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Portugal. IEEE, 6 p., 2012
Liste complète des métadonnées

Littérature citée [10 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-00765372
Contributeur : Import Ws Irstea <>
Soumis le : vendredi 14 décembre 2012 - 15:00:20
Dernière modification le : jeudi 11 janvier 2018 - 06:17:21
Document(s) archivé(s) le : vendredi 15 mars 2013 - 03:50:15

Fichier

cf2012-pub00036619.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00765372, version 1
  • IRSTEA : PUB00036619

Citation

M. Richier, R. Lenain, Benoît Thuilot, C. Debain. Dual back-stepping observer to anticipate the rollover risk in under/over-steering situations. Application to ATVs in off-road context. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Portugal. IEEE, 6 p., 2012. 〈hal-00765372〉

Partager

Métriques

Consultations de la notice

273

Téléchargements de fichiers

142