Prediction Based Combined Control to Prevent the Rollover of Heavy Vehicles

In this paper a combined control structure to decrease the rollover risk of heavy vehicles is developed. In this structure active anti-roll bars are combined with an active brake control. To enhance the performance of the active brake, this mechanism is extended with a prediction procedure, in which the critical values are predicted in advance using a short time interval. In order to predict an imminent rollover, an observer-based prediction algorithm is proposed to estimate in advance the load transfers. The control design is based on the linear parameter varying model of yaw-roll dynamics of heavy vehicles. In the control design both the performance demands and the model uncertainties are taken into consideration. The control mechanism is demonstrated in a double lane change maneuver