The rollover diagnosis of wheeled vehicles with the zero moment point

Xu Han (1) , Joanny Stephant (1) , Gilles Mourioux (1)

1 XLIM-SRI - Systèmes et Réseaux Intelligents

The rollover of vehicle which have important mass and a high gravity center represent regular personal injury. The detection of these risk situations is a societal issue. This article presents two indicators of rollover vehicule risk, based on the concept of Zero Moment Point (ZMP). The method of determining the ZMP position from the application of the fundamental principle of dynamics is presented in detail. The indicators are based on the relative position of the ZMP in relation to the segments of the sustentation polygon. The evaluation of this polygon is also detailed. The proposed indicators are compared with experimental data acquired using a tractor harvester GREGOIRE G7-240.

Mots clés: vehicle dynamics; driver assistance; rollover estimator; Zero Moment Point; sustentation polygon.

Domaines: Automatique

Xu Han, Joanny Stephant, Gilles Mourioux. The rollover diagnosis of wheeled vehicles with the zero moment point. Journal Européen des Systèmes Automatisés (JESA), 2013, 47 (4-8), pp.321-337. ⟨10.3166/jesa.47.321-337⟩. ⟨hal-01290404⟩