Optimized Control of Emergency Lane Change Rollover Prevention for Commercial Vehicles with Combined Differential Braking and Active Suspension

Commercial vehicles are more prone to rollover problems at high speeds and sharp turns due to their high center of mass and large mass. This paper proposes an integrated control strategy for emergency lane changing collision avoidance and rollover prevention for commercial vehicles. The integrated control strategy adopts hierarchical control, where the upper controller coordinates the differential braking and active suspension to work in different working conditions, and the lower controllers work in accordance with their respective control strategies after receiving commands. For the differential brake control, an adaptive neuro-fuzzy system based control is used to design the additional transverse moment controller. For active suspension control, an active suspension anti-roll-over control strategy using Gray Wolf particle swarm algorithm to optimize the Active Disturbance Rejection Control parameters is used. The simulation results show that when the vehicle speed is 110km / h, the integrated control is reduced by 22% compared with the differential braking roll angle, and the integrated control is reduced by 24% compared with the peak lateral acceleration of the active suspension, and the rollover dynamics related parameters are within the safe range.