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Stability Prediction and Anti-Roll Control of Off-Road Vehicle Based on Multi-Objective Optimization Southeast University, School of Mechanical Engineering
- Format:
- Book
- Conference/Event
- Author/Creator:
- Hu, Yutao, author.
- Conference Name:
- SAE 2025 Intelligent and Connected Vehicles Symposium (2025-09-19 : Shanghai, China)
- Language:
- English
- Physical Description:
- 1 online resource cm
- Place of Publication:
- Warrendale, PA SAE International 2025
- Summary:
- Off-road vehicles need to adapt to harsh road environments and wild driving, so their rollover stability is very important. It is of great significance to predict and control the rollover stability of off-road vehicles based on the vehicle's driving state. This paper adopts a prediction method for off-road vehicle stability based on TTR (Time to Rollover), uses the LQR (Linear Quadratic Regulator) multi-objective optimization control method to perform anti-rollover control. Firstly, in view of the rollover risk of intelligent off-road vehicles under extreme road conditions, a three-degree-of-freedom rollover model of the vehicle is established, and a rollover failure index is proposed. Then, based on the TTR, a rollover failure prediction algorithm is developed. Next, the braking force through LQR controller is determined and the differential braking method is adopted for vehicle anti-roll control. Finally, a simulation platform is built based on CarSim and Simulink to simulate and verify the control algorithm. The results indicate that the LQR control algorithm has the least impact on vehicle speed. By comparison, LQR has the advantage of multi-objective control, which can quickly approach a stable lateral velocity. Furthermore, LQR's output is smoother and will dynamically adjust the output value according to the magnitude of the steering angle change rate
- Notes:
- Vendor supplied data
- Publisher Number:
- 2025-01-7330
- Access Restriction:
- Restricted for use by site license
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