Differential Braking Based Controller for Mitigating Un-Tripped Rollover in a Heavy Commercial Road Vehicle

Rollover prevention in Heavy Commercial Road Vehicles (HCRVs) requires timely intervention with appropriate monitoring of the roll dynamics of the vehicle. In this study, a 3 - Degrees of Freedom (DoF) model of roll dynamics is developed for monitoring potential rollover, and design a rollover prevention strategy. The accuracy of the model was evaluated by corroborating synthesized data from the vehicle dynamics simulation software IPG TruckMaker®, A threshold-based differential braking methodology was utilized to prevent impending rollover. The proposed algorithm was tested in a hardware-in-loop set-up, including the dynamics and delays associated with the brake actuator. The closed-loop implementation results show that the proposed controller effectively prevents an impending rollover.