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. 2017 Oct 13;17(10):2318.
doi: 10.3390/s17102318.

A LQR-Based Controller with Estimation of Road Bank for Improving Vehicle Lateral and Rollover Stability via Active Suspension

Andres Riofrio  1 , Susana Sanz  1 , Maria Jesus L Boada  2 , Beatriz L Boada  3
Affiliations

A LQR-Based Controller with Estimation of Road Bank for Improving Vehicle Lateral and Rollover Stability via Active Suspension

Andres Riofrio et al. Sensors (Basel). .

Abstract

In this article, a Linear Quadratic Regulator (LQR) lateral stability and rollover controller has been developed including as the main novelty taking into account the road bank angle and using exclusively active suspension for both lateral stability and rollover control. The main problem regarding the road bank is that it cannot be measured by means of on-board sensors. The solution proposed in this article is performing an estimation of this variable using a Kalman filter. In this way, it is possible to distinguish between the road disturbance component and the vehicle's roll angle. The controller's effectiveness has been tested by means of simulations carried out in TruckSim, using an experimentally-validated vehicle model. Lateral load transfer, roll angle, yaw rate and sideslip angle have been analyzed in order to quantify the improvements achieved on the behavior of the vehicle. For that purpose, these variables have been compared with the results obtained from both a vehicle that uses passive suspension and a vehicle using a fuzzy logic controller.

Keywords: Kalman filter; LQR; active suspension; bank; load transfer; roll angle; sideslip; yaw rate.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Flat roll model.
Figure 2
Figure 2
Bike lateral motion model.
Figure 3
Figure 3
Validation of the vehicle simulation model for a double change lane maneuver.
Figure 4
Figure 4
Validation of the vehicle simulation model for a change lane maneuver.
Figure 5
Figure 5
Controller structure.
Figure 6
Figure 6
Load transfer coefficient for Test 1.
Figure 7
Figure 7
Roll angle for Test 1.
Figure 8
Figure 8
Yaw rate for Test 1.
Figure 9
Figure 9
Sideslip for Test 1.
Figure 10
Figure 10
Global view for Test 2.
Figure 11
Figure 11
Bank angle estimation for Test 2.
Figure 12
Figure 12
Load transfer coefficient for Test 2.
Figure 13
Figure 13
Roll angle for Test 2.
Figure 14
Figure 14
Yaw rate for Test 2.
Figure 15
Figure 15
Sideslip for Test 2.
Figure 16
Figure 16
Global view for Test 3.
Figure 17
Figure 17
Bank angle estimation for Test 3.
Figure 18
Figure 18
Load transfer coefficient for Test 3.
Figure 19
Figure 19
Roll angle for Test 3.
Figure 20
Figure 20
Yaw rate for Test 3.
Figure 21
Figure 21
Sideslip for Test 3.
See this image and copyright information in PMC

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