ABSTRACT
This paper considers a novel approach to active rollover prevention, incorporating online estimation of the driver’s intended path. The problem is formulated as one of minimizing lateral deviation from the intended path subject to friction and rollover limits. A recently published control allocation and moderation method is developed to be applicable to the rollover problem in such a way that speed is optimally reduced. Furthermore, a new Time-To-Rollover (TTR) metric, based on driving intention prediction, is incorporated into the system concept. Finally, mediation provides a general approach to designing a cooperative system, coordinating between the human driver and the onboard autonomous safety system to reduce the sensitivity of vehicle response to any sudden or emergency driver actions.
