Potential Field Function based Vehicle Lateral Stability Control

摘要

It is well known fact that narrower vehicles have more susceptibility to rollover and lateral stability. For the purpose of experimenting and analysis when certain additional weight is added to the vehicle then the C.G changes which can result in vehicle rollover. In this study a novel braking based methodology is used to devise a strategy on g-g diagram to modify the driver's commands of longitudinal acceleration in accordance with lateral acceleration to lateral stability. Potential field function is used to couple the lateral and longitudinal dynamics of vehicle for the purpose of lateral stability. The same method is applicable to mobile platform in autonomous mode of operation with ensured rollover stability.