| Abstract: | Vehicle rollover represents a significant percentage of single-vehicle accidents and accounts for over 9000 fatalities and over 200,000 non-fatal injuries each year. Previous research has yielded rollover stability control systems that are effective in on-road conditions. Accident statistics show, however, that over 90% of rollovers involve road departure, during which a vehicle may encounter sloped and rough terrain while travelling at high speed. A critical element of most rollover stability control systems is a metric that monitors a vehicle's nearness to rollover. Most metrics, however, are designed for use on flat, level surfaces characteristic of on-road terrain. In this paper, a new stability metric, termed the stability moment, is proposed that is accurate on terrain surfaces with arbitrary geometry, which allows it to be used in road departure scenarios. The metric is based on an estimate of the distribution of wheel–terrain contact forces. The metric can be calculated on line in real time, using only practical, low-cost sensors. The metric is compared in simulations and experimental studies to existing stability metrics and is shown to exhibit superior performance, particularly in off-road conditions. |
