Wang Dongtao, Hu Yifan, Liu Xuan, Shen Yanjian, Wang Rong
Hunan Automotive Engineering Vocational University, Zhuzhou, China.
Hunan University of Technology, Zhuzhou, China.
PLoS One. 2025 May 29;20(5):e0323996. doi: 10.1371/journal.pone.0323996. eCollection 2025.
The global incidence of traffic accidents caused by vehicle rollovers has exhibited a persistent upward trajectory in recent years. This paper proposes a novel rollover prevention control method incorporating time-delay compensation to address inherent latency issues in anti-rollover control systems (ARCS). First, structural parameters and dynamic theory establish a three-degree-of-freedom (3-DOF) dynamics model for a sport utility vehicle (SUV). Subsequently, a lateral load transfer ratio (LTR) estimation model is developed and validated under J-turn test conditions. A grey prediction model is then implemented to forecast LTR values in advance, compensating for system time delays. A two-dimensional fuzzy controller, utilizing error and error change rate as inputs, generates corrective yaw moment through differential braking to maintain vehicle stability. Co-simulation experiments conducted in CarSim and MATLAB/Simulink under typical driving scenarios demonstrate that the proposed method effectively mitigates ARCS time delays while preserving driving stability. The results suggest this approach provides both a practical solution for SUV rollover prevention and a conceptual advancement for vehicle active safety systems, showing strong potential for real-world implementation to reduce rollover risks and enhance road safety.
近年来，全球因车辆侧翻导致的交通事故发生率呈持续上升趋势。本文提出了一种结合时延补偿的新型侧翻预防控制方法，以解决防侧翻控制系统（ARCS）中固有的延迟问题。首先，通过结构参数和动力学理论建立了运动型多用途汽车（SUV）的三自由度（3-DOF）动力学模型。随后，开发并在J型转弯测试条件下验证了横向载荷转移率（LTR）估计模型。接着实施灰色预测模型以提前预测LTR值，补偿系统时延。一种二维模糊控制器，以误差和误差变化率作为输入，通过差动制动产生校正横摆力矩以保持车辆稳定性。在典型驾驶场景下于CarSim和MATLAB/Simulink中进行的联合仿真实验表明，该方法在保持驾驶稳定性的同时有效减轻了ARCS的时延。结果表明，这种方法既为SUV侧翻预防提供了切实可行的解决方案，又为车辆主动安全系统带来了概念上的进步，显示出在实际应用中降低侧翻风险和提高道路安全性的强大潜力。
