NDLI: Terrain-aware rollover prediction for ground vehicles using the zero-moment point method

Content Provider	IEEE Xplore Digital Library
Author	Lapapong, S. Brennan, S.N.
Copyright Year	2010
Description	Author affiliation: Dept. of Mech. & Nucl. Eng., Pennsylvania State Univ., University Park, PA, USA (Lapapong, S.; Brennan, S.N.)
Abstract	Rollover accidents are one of the leading causes of death in highway accidents due to their very high fatality rate. A key challenge in preventing rollover via chassis control is that the prediction of the onset of rollover can be quite difficult, especially in the presence of terrain features typical of roadway environments. These road features include superelevation of the road (e.g road bank), the median slope, and the shoulder down-slope. This work develops a vehicle rollover prediction algorithm that is based on a kinematic analysis of vehicle motion, a method that allows explicit inclusion of terrain effects. The solution approach utilizes the concept of zero-moment point (ZMP) that is typically applied to walking robot dynamics. This concept is introduced in terms of a lower-order model of vehicle roll dynamics to measure the vehicle rollover propensity, and the resulting ZMP prediction allows a direct measure of a vehicle rollover threat index. Simulation results using a complex multi-body vehicle simulation show the effectiveness of the proposed algorithm during different road geometry scenarios and driver excitations.
Starting Page	1501
Ending Page	1507
File Size	718132
Page Count	7
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5531270
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Land vehicles Road accidents Legged locomotion Vehicle dynamics Solid modeling Road transportation Prediction algorithms Kinematics Motion analysis Predictive models
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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