Research On Vehicle-Anti-Rollover Control Based On The Driver Model

The aim of the dissertation is to study the vehicle’s anti-rollover control based on the driver model, the following issues are discussed:the establishing of whole vehicle model, the designing of anti-rollover control system, the establishing of driver model and the simulating of the driver-vehicle-road close-loop system based on the driver model and so on.For a tire, its lateral force and braking force are both related to its vertical load, and the vertical load is affected by the roll movement, moreover the Lateral-load Transfer Rate (LTR) is an important parameter to describe the change of the vertical load. By considering this, a nonlinear tire model and an8-DOF vehicle dynamic model have been built based on the LTR, and the study on anti-rollover control is base on these models.Active steering theology can change the steering angle independently to change the movement of the automobile. Through analysis how the steering angle influences the roll movement, this paper uses active steering theology as an anti-rollover control method. During the simulation, the method is validated. The results show that active steering theology can improve the anti-rollover performance by reducing the LTR through change the yaw rate and the lateral acceleration.According to the characteristics of PID control and fuzzy control, a driver model of steering direction control for automobiles is established based on the preview optimal curvature model. The simulating results show good direction control capability of the driver model.Combined the driver, the vehicle model by anti-roll control, the following simulations were done according to the actual situation of rollover by the diver: steering angle step input simulation and emergency avoidance simulation. The results show that this model can improve both the rollover capability and the trajectory tracking capability.