Slip and cornering stiffnesses observation for the stability assessment of off-road vehicles
Résumé
A real-time observer allowing to check the stiffnesses in the longitudinal and lateral directions of the contact between natural soils and tires is presented. This work responds to the need of active security devices for off-road vehicles that are subject to instability, leading sliding and rollover. The algorithm has been experimented on a grape harvester in real conditions. The results of this low-cost observer are compared to precise measures acquired with expensive sensors and validate that the driver can be informed when the situation becomes
dangerous.
Origine : Fichiers produits par l'(les) auteur(s)
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