On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for All-Terrain Vehicles
On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for All-Terrain Vehicles
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DOI：
10.1109/iros.2011.6094450
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
M. Richier;R. Lenain;B. Thuilot;C. Debain
中科院分区：
文献类型：
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作者：
M. Richier;R. Lenain;B. Thuilot;C. Debain
侧翻是全地形车 (ATV) 特别是轻型车辆（例如四轮摩托车）发生严重事故的主要原因。为了降低这种风险，有源器件的开发提供了一种有前景的解决方案。为此，本文提出了一种算法，通过稳定性标准的在线估计来预测侧翻风险。在多种侧翻指示器中，选择了横向负载转移 (LLT)，因为与轻型全地形车的价格相比，其估算仅需要低成本的传感设备。首先开发了与自行车模型相关的自适应后退观察器，可以估计抓地力条件。此外，由于经典卡尔曼滤波器依赖于测量的加速度和侧倾率，因此可以估计侧向坡度。然后，考虑抓地力条件和坡度，从侧倾模型导出 LLT 的表达式。最后，通过预测算法预测 LLT 值。通过四轮摩托车的全面实验，对该系统的功能进行了研究。
Rollover is the principal cause of serious accidents for All-Terrain Vehicles (ATV), especially for light vehicles (e.g. quad bikes). In order to reduce this risk, the development of active devices, contributes a promising solution. With this aim, this paper proposes an algorithm allowing to predict the rollover risk, by means of an on-line estimation of a stability criterion. Among several rollover indicators, the Lateral Load Transfer (LLT) has been chosen because its estimation needs only low cost sensing equipment compared to the price of a light ATV. An adapted backstepping observer associated to a bicycle model is first developed, allowing the estimation of the grip conditions. In addition, the lateral slope is estimated thanks to a classical Kalman filter relying on measured acceleration and roll rate. Then, an expression of the LLT is derived from a roll model taking into account the grip conditions and the slope. Finally, the LLT value is anticipated by means of a prediction algorithm. The capabilities of this system are investigated thanks to full scale experiments with a quad bike.