Misawa Kasahara

Rollover prevention with Predictive Control of differential braking and rear wheel steering

This paper contributes to increase knowledge about a Model Predictive Control (MPC) approach to untripped rollover prevention of heavy vehicles which make a panic lane change maneuver in order to avoid an obstacle in the path. Active differential braking control shows good effect on limit roll angle during an urgent situation. However, at the same time of avoiding rollover accidents, prohibiting the vehicle from the drivers intended and the vehicles actual lane can also yield other accidents such as bumping into guard rails or cones. Thus, it is necessary to track the drivers desired path as closely as possible while preventing the vehicle from rollover. Here, a new control method of switching the MPC controllers which uses differential braking with dead zone and active rear steer are proposed. Simultaneously, the trade-off between rollover prevention and path tracking is highlighted through simulation results. The effectiveness of using switching controllers designed for the trade-off solution is also confirmed through simulation results.

On Sliding Mode Control with time varying switching hyperplane for vertical driving arm

This research aims to construct Sliding Mode Control (SMC) system that decreases chattering in controlled object of discrete time system. In conventional SMC, chattering has been generated by turbulences influencing the state, and repeating operation that jumps over switching hyperplane. Then, we thought about switching hyperplane that always moved according to the change in the state. The feature is that the equal output is obtained, even if input is decreased by making a nonlinear input to 0. In this paper, a simulation is performed using a vertical driving arm and the stability and validity of the proposal method are considered.

Adjust method of nonlinear gain in four-wheel steering control using Sliding Mode Control

This paper explains a method of four-wheel steering control by using Sliding Mode Control (SMC). The purpose is to improve the control safety of four-wheeled vehicle by using invariable SMC for the cross-wind disturbance that satisfies the matching condition. Influence of the side wind are thought as the cross-wind disturbance related to driving the car. Steering control that corresponds to the influence of the side wind by using SMC is done, and it is examined to be able to do the achievement of the high stability and the decrease of the error margin with the target path. Then, we propose the adjustment method of the value of a nonlinear gain of the control input that considers the phase-lag to the steer of a lateral acceleration. The improvement of the control of the cross-wind disturbance is achieved by the proposal method.

Relation between overturn and the center of gravity of a forklift truck

A forklift truck is a transport vehicle that is commonly used in logistics and at construction sites. Operating a forklift truck incorrectly may cause a load being carried to drop, which in turn may result in an accident. Accidents are particularly likely to occur while a forklift truck is turning or lifting its fork. In this study, we consider accidents that occur while a forklift truck is turning or lifting its fork. The center of gravity of a forklift truck is greatly related to whether an accident may occur. Therefore, we derive a method for determining the center of gravity of a forklift truck.

The proposal of the forklift fall accidents prevention method using sliding mode control

Although instances of forklift trucks overturning due to accident are relatively rare, many people have lost their lives in such accidents. The center of gravity of the load placed on the fork is high, and since the moving forklift truck loses its balance and overturns, throwing the driver out of the cabin and burying him or her underneath the truck itself or the load, resulting in serious injury and sometimes death. Therefore, it is necessary to derive a controlling method that considers the forklift trucks center of gravity in order to prevent load overturn. We have developed a dynamic model of a forklift truck and designed a control input using a sliding mode control method. The results of numeric simulation demonstrate the effectiveness of the designed control input.

Active rear steering of driver-vehicle systems based on D‗ control

Under normal operation, a driver will manipulate the steering wheels to control the yaw rate. In an unexpected case like risk aversion, the driver will manipulate the steering wheel as to suppress a lateral acceleration. Depending on the objective of the vehicle at a given time, the D* value align with a lateral acceleration and a yaw rate is define and input. The idea here is to understand the real situations of a vehicle and use this situation to develop the ideal value by a control rule. In this research, we design the value of d, which uses a D* control, to be variable, and build a new D* control rule that correspond to change in side wind disturbance, steering-wheel operation, and the road surface condition.

Roll Damping Control of a Heavy Vehicle under the Strong Crosswind

Abstract When driving a heavy vehicle following a straight route under the inclement environmental conditions such as the strong wind, road irregularities, and slippery roads, drivers can compensate continuously for small directional deviations from the desired course by controlling the handle. However, when making an abrupt lane change, especially in the strong wind condition, drivers have not enough time to make the compensation for adjusting the handle and it will be initiate a rollover. This paper contributes to increase knowledge about the directional stability of heavy vehicles under the influence of crosswind gusts by using an advanced vehicle model. A new approach of rollover prevention under the strong crosswind by using active rear wheel steer is proposed. The effectiveness of using Model Predictive Control (MPC) controllers designed for the lane following and degradation of the roll angle were confirmed through the lane change based on simulation results.