Influences Of Driver On Vehicle Rollover Stability And Anti-roll Control

A vehicle rollover is a kind of high-speed emergency dynamic process and can be avoided by the driver’s accurate operation.In order to explore the influence of driver’s mechanism to the rollover stability,this paper studies the stability analysis and anti-rollover control of driver vehicle closed-loop system.The Different driver’s perception is selected to establish a steering handle model respectively,and a driver-vehicle closed-loop system is constructed based on multiple degrees of freedom vehicle rollover model.In order to make up for the lack of driver’s operation,the control algorithm is designed and verified.According to the characteristics of drivers’ perception of rollover hazard,a driver braking handle model is established to study its influence on rollover.Firstly,the influence of the driver steering handle model perceived the yaw motion on the vehicle rollover is studied.Considering the driver’s operating characteristics,a driver steering model is established with the rate of vehicle lateral displacement and yaw rate as the perceptual quantity.Based on the two degrees of freedom vehicle model,the LQR algorithm is used as the decision-making module,and the neuromuscular system is used as the execution module.Then,the driver-vehicle closed-loop system is obtained with the Car Sim vehicle model.Based on the analysis of the influence of the empirical parameters and the neuromuscular delay time on the driver’s correction,a PID control algorithm with the rollover index RI as the feedback is designed to improve the anti rollover ability of the vehicle;Secondly,considering the characteristics of the driver’s roll perception,the driver’s steering handle model is researched.Taking lateral speed,yaw rate,roll angle and roll angle rate as driver perception,a driver steering handle model with roll perception is established under the LQR algorithm decision based on the three degrees of freedom vehicle model,and the driver in the loop test is carried out.The influence rules of empirical parameters and physiological parameters on system rollover stability are analyzed under untripped and tripped conditions respectively.According to the analysis results,a multi-objective sliding mode controller is designed and verified by a typical case.The simulation results show that the controller can effectively make up for the lack of driver operation;Finally,taking the risk of the roll as the perceptual quantity,a driver braking handle model is established to explore the law of the vehicle rollover.A driver braking handle model is established based on time to rollover.Considering the influence of the second rate of the lateral load transfer rate,a time to rollover algorithm based on second prediction is proposed,the theoretical solution of time to rollover is obtained and verified by an example.Taking the time to rollover as the perceptual quantity and the brake pedal force as the driver’s correction output,the influence of driver’s braking operation on rollover stability is explored.The driver model integrated with the braking and the steering is established by using the stability factor as the decision condition and the influence of integrated handle on vehicle rollover stability is analyzed.