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Technical Paper

Influence of Active Chassis Systems on Vehicle Propensity to Maneuver-Induced Rollovers

The purpose of this paper is to evaluate through simulations the effects of active chassis systems on vehicle propensity to rollover caused by aggressive handling maneuvers. A 16 degree-of-freedom computer model of a full vehicle is used for this purpose. It includes models of active chassis systems and the associated control algorithms, and allows for simulation of vehicle dynamic behavior under large roll angles. The controllable chassis systems considered in this investigation are active rear steer, brake based vehicle stability enhancement system and active anti-roll bar. The maneuvers used in simulation are the double lane change and the fishhook maneuvers with increasing steering amplitudes. The vehicle represents a midsize SUV with a marginal static stability factor of 1.09 and aggressive tires. The results of simulations demonstrate that the uncontrolled vehicle rolls over in both maneuvers when the steering angle is sufficiently large.
Technical Paper

Estimation of Vehicle Side Slip Angle and Yaw Rate

An algorithm for estimation of vehicle yaw rate and side slip angle using steering wheel angle, wheel speed, and lateral acceleration sensors is proposed. It is intended for application in vehicle stability enhancement systems, which use controlled brakes or steering. The algorithm first generates two initial estimates of yaw rate from wheel speeds and from lateral acceleration. A new estimate is subsequently calculated as a weighted average of the two initial ones, with the weights proportional to confidence levels in each estimate. This preliminary estimate is fed into a closed loop nonlinear observer, which generates the final estimate of yaw rate along with estimates of lateral velocity and side slip angle. Parameters of the observer depend on the estimated surface coefficient of adhesion, thus providing adaptation to changes in road surface coefficient of adhesion.