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Untripped sport utility vehicle rollovers are dangerous and possibly lethal accidents. A new kinetic energy based measure, that indicates an imminent wheel lift-off, is introduced. This measure is used by a gain scheduled linear quadratic (LQ) controller to prevent wheel lift-off. The LQ controller outputs the desired changes of the forces acting on the chassis. These force changes are mapped to braking and traction system commands by a control allocator. A new allocation strategy based on convex optimization is proposed. The controller is capable of preventing wheel lift-off in the simulated test cases.