PDF《arc》

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2 NN TTR NN TTR NN TTR TTR from Simplified Model TTR TTR from Simplified Model Roll Angle Roll Angle Change of Roll Angle Change of Roll Angle inputs

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3 3.5 time (seconds) Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc ArcSim ArcSim Simulation Results Simulation Results Entering a Ramp

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3 3.5 Worst-Case Steering TTR (sec) time (sec) Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc SUV Simulation Results SUV Simulation Results

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1 time (sec) TTR (sec) Model based TTR of Samurai (50 mph 0.6g right turn maneuver) Model based TTR of Cherokee (50 mph 0.6g right turn maneuver)

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1 time (sec) TTR (sec) Model based TTR NN TT Model based and NN TTR of Cherokee (50 mph 0.6g right turn maneuver) Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc Reducing Time Delay Helps! Reducing Time Delay Helps! ?Human delays (mean for brake reaction time ~0.75 sec) creates unwanted vehicle and traffic behavior. It was found that 0.5 (1.0) second of advance warning could prevent 30-60% (60- 90%) of the accidents. Advanced Perception Reduction % of the Collisions Intersection Accidents Accidents with On-Coming Traffic Rear-End Collision Source: Von Glasner AVEC?94

002 9437953 Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc Cherokee Model in TruckSim Cherokee Model in TruckSim Mechanical Simulation Corporation Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc

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2 Lateral acceleration

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1 time (sec) deg Vehicle roll angle Model Verification Model Verification

25 mph right turn (0.6g)

50 mph pulse steer right Lateral Accel. Roll Angle

10 test runs Input run TruckSim RMS value: 0.0379 g RMS value: 0.2130 deg

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0 0.5 time (sec) Vehicle roll angle Lateral acceleration time (sec) m/s deg Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc ?4-wheel Steering -Multiple Steered Axles for Reducing the Rollover Risks of Heavy Articulated Trucks. (Furleigh, Vanderploeg, and Oh et al. 1988) ?Active Suspension -An Investigation of Roll Control System Design for Articulated Heavy Vehicles. (Sampson and Cebon 1998) ?Differential Braking -Roll-Over Prevention (ROP¨) System. (Palkovics, Semsey, and Gerum 1998) -Anti-Rollover Braking (ARBTM). (Wielenga 1999) Literature Review (Anti-Rollover Control) Literature Review (Anti-Rollover Control) Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc Longitudinal Tire Force Lateral Tire Force Longitudinal Slip Reduction in the tire lateral force component Vertical tire load Tends to zero by roll-over Rolling over without Differential Braking Inertial force High C.G. ABS operation region Physics of Differential Braking Control (I) Physics of Differential Braking Control (I) Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc a v u r y = + * B Longitudinal velocity, u d = constant Lateral velocity, v acceleration, ay Yaw rate, r Physics of Differential Braking Control (II) Physics of Differential Braking Control (II) Lateral tire force Longitudinal tire force Resulting Yaw moment Warning and Control of Vehicle Rollover Prevention Automotive Research Center arc ?The effect of differential braking has been included in TTR calculation. ?Braking moment is applied on the outside front wheel while the vehicle is turning. TTR Anti-Rollover Control TTR Anti-Rollover Control TTR Calculation TTR Calculation TTR Sign Sign Preview Action Preview Action Steering Input (Disturbance) TruckSim Cherokee TruckSim Cherokee Braking Moment Controller Controller Desired TTR Differential Braking Differential Braking + - Warning and Control of Vehicle Rollover Prevention Automotive Research Cente........