60 5. ACTIVE CONTROL FOR VEHICLE ROLLOVER AVOIDANCE
e Integrated Chassis Controller
Part 1:
Active Speed
Limiting Co
ntrol
Part 3: Inter-axle
Torque Distribution
Control
Target: Anti-body
slip and rollover
Part 2: Active Rear
S
teer
ing Control
Part 4: Measure signals and estimated vehicle states
{P
α
,P
β
, δ
f
, α
x
,α
y
,v
x
,v
y
,δ
r
,SOC,ω
i,j
,F
z,i,j
,μ,α
g
}
Driver Input Signals
P
α
,
P
β
,
δ
f
e Control Outputs
T
E,m,1
T
E,m,2
T
E,x,1
T
E,x,2
T
B,f,1
T
B,f,2
T
B,m,1
T
B,m,2
T
B,x,1
T
B,x,2
δ
f
δ
r
F
x,des
Target: Optimal
distribution,
anti-wheel slip,
battery power
limitation
Target: Tire
wear
ing coordinate
Figure 5.10: e framework of integrated chassis controller.
5.6 SUMMARY
In this chapter, the widely used rollover avoidance control methods are summarized and an-
alyzed. e anti-roll bar, active steering system, differential braking, and active suspension all
can work to prevent the vehicle rollover to some extent although each of them has its limitation.
erefore, the integrated chassis control will be the promising research direction for rollover
avoidance in the future.
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