60 5. ACTIVE CONTROL FOR VEHICLE ROLLOVER AVOIDANCE
e Integrated Chassis Controller
Part 1:
Active Speed
Limiting Co
ntrol
Part 3: Inter-axle
Torque Distribution
Control
Target: Anti-body
slip and rollover
Part 2: Active Rear
S
teer
ing Control
Part 4: Measure signals and estimated vehicle states
{P
α
,P
β
, δ
f
, α
x
y
,v
x
,v
y
r
,SOC,ω
i,j
,F
z,i,j
,μ,α
g
}
Driver Input Signals
P
α
,
P
β
,
δ
f
e Control Outputs
T
E,m,1
T
E,m,2
T
E,x,1
T
E,x,2
T
B,f,1
T
B,f,2
T
B,m,1
T
B,m,2
T
B,x,1
T
B,x,2
δ
f
δ
r
F
x,des
Target: Optimal
distribution,
anti-wheel slip,
battery power
limitation
Target: Tire
wear
ing coordinate
Figure 5.10: e framework of integrated chassis controller.
5.6 SUMMARY
In this chapter, the widely used rollover avoidance control methods are summarized and an-
alyzed. e anti-roll bar, active steering system, differential braking, and active suspension all
can work to prevent the vehicle rollover to some extent although each of them has its limitation.
erefore, the integrated chassis control will be the promising research direction for rollover
avoidance in the future.
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