TY - GEN
T1 - Real-time estimation of roll angle and CG height for active rollover prevention applications
AU - Rajamani, Rajesh
AU - Piyabongkam, D.
AU - Tsourapas, V.
AU - Lew, I. Y.
PY - 2009/11/23
Y1 - 2009/11/23
N2 - Roll angle and height of the center of gravity are important variables that playa critical role in the calculation of real-time rollover index for a vehicle. The rollover index predicts the real-time propensity for rollover and is used in activation of rollover prevention systems such as differential braking based stability control systems. Sensors to measure roll angle are expensive. Sensors to estimate the c.g. height of a vehicle do not exist. While the height of the center-of-gravity does not change in real-time, it does change with the number of passengers and loading of the vehicle. This paper focuses on algorithms to estimate roll angle and c.g. height. The algorithms investigated include a sensor fusion algorithm that utilizes a low frequency tilt angle sensor and a gyroscope and a dynamic observer that utilizes only a lateral accelerometer and a gyroscope. The performance of the developed algorithms is investigated using simulations and experimental tests. Experimental data confirm that the developed algorithms perform reliably in a number of different maneuvers that include constant steering, ramp steering, double lane change and sine with dwell steering tests.
AB - Roll angle and height of the center of gravity are important variables that playa critical role in the calculation of real-time rollover index for a vehicle. The rollover index predicts the real-time propensity for rollover and is used in activation of rollover prevention systems such as differential braking based stability control systems. Sensors to measure roll angle are expensive. Sensors to estimate the c.g. height of a vehicle do not exist. While the height of the center-of-gravity does not change in real-time, it does change with the number of passengers and loading of the vehicle. This paper focuses on algorithms to estimate roll angle and c.g. height. The algorithms investigated include a sensor fusion algorithm that utilizes a low frequency tilt angle sensor and a gyroscope and a dynamic observer that utilizes only a lateral accelerometer and a gyroscope. The performance of the developed algorithms is investigated using simulations and experimental tests. Experimental data confirm that the developed algorithms perform reliably in a number of different maneuvers that include constant steering, ramp steering, double lane change and sine with dwell steering tests.
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U2 - 10.1109/ACC.2009.5160045
DO - 10.1109/ACC.2009.5160045
M3 - Conference contribution
AN - SCOPUS:70449642961
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 433
EP - 438
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -