Rollover prevention system dedicated to ATVs on natural ground

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

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