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Braking based integrated rollover prevention and yaw control for an off-road vehicle
Dissertation (MEng)--University of Pretoria, 2016.
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| Format: | Thesis |
| Language: | English |
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University of Pretoria
2017
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| _version_ | 1867613548811649024 |
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| access_status_str | Open Access |
| author2 | Els, P.S. (Pieter Schalk) |
| author_browse | Els, P.S. (Pieter Schalk) |
| author_facet | Els, P.S. (Pieter Schalk) |
| collection | Thesis |
| dc_rights_str_mv | © 2017 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. |
| description | Dissertation (MEng)--University of Pretoria, 2016. |
| format | Thesis |
| id | oai:repository.up.ac.za:2263/61339 |
| institution | University of Pretoria (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:37:54.123Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UPSpace — University of Pretoria Institutional Repository |
| publishDate | 2017 |
| publishDateRange | 2017 |
| publishDateSort | 2017 |
| publisher | University of Pretoria |
| publisherStr | University of Pretoria |
| record_format | dspace |
| source_str | UPSpace — University of Pretoria Institutional Repository |
| spelling | oai:repository.up.ac.za:2263/61339 Braking based integrated rollover prevention and yaw control for an off-road vehicle Els, P.S. (Pieter Schalk) straussrenier@gmail.com Strauss, Renier UCTD Rollover prevention Yaw control Braking Systems Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure Engineering, built environment and information technology theses SDG-11 SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-03 SDG-03: Good health and well-being Dissertation (MEng)--University of Pretoria, 2016. Sport utility vehicles typically feature high ground clearances that allow them to be used in off-road conditions. Their use is not limited to off-road conditions and they are often used as day-to-day family vehicles. On the road, where high friction surfaces are prevalent, their high centres of gravity can make them susceptible to un-tripped rollovers during severe dynamic manoeuvers such as an emergency obstacle avoidance. The detection of a high risk of rollover and the avoidance thereof has great potential to improve vehicle safety, as the consequences of rollover incidents are generally quite severe. Rollover mitigation systems are triggered when a rollover threshold index is exceeded, indicating a high risk of rollover. The metric implemented in this study is known as the zero-moment point method, which allows for vehicle parameters and terrain to be taken into account. Previous research has indicated that mitigation systems that trigger braking intervention are some of the most successful methods in reducing rollover risk, as it not only stabilises the vehicle, but also reduces the speed. Brake based rollover prevention systems typically implement electronic stability program methods that use yaw rate reduction as the primary tool for reducing rollover risk, which often comes at the expense of the vehicle's path following ability. This means that the stability control system may lead to the vehicle leaving the road and causing an even more severe accident. The control algorithm implemented in this study gives preference to reducing the forward speed of the vehicle which in turn reduces lateral acceleration, a major contributor to rollover propensity. Braking is however apportioned to all four wheels and distributed so as to achieve vehicle yaw rate targets. Emphasis is placed on maintaining good path following capability to prevent the vehicle from leaving the road. The detection and mitigation system was tested on a Land Rover Defender 110 for a variety of manoeuvers in simulation as well as experimental testing. The results indicate that the rollover mitigation system managed to successfully reduce the rollover threshold index of the vehicle during the manoeuver whilst simultaneously maintaining the path following ability of the vehicle and improved the yaw rate tracking. mi2025 Mechanical and Aeronautical Engineering MEng Unrestricted SDG-09: Industry, innovation and infrastructure SDG-11: Sustainable cities and communities SDG-03: Good health and well-being 2017-07-13T13:29:00Z 2017-07-13T13:29:00Z 2017-04-26 2016 Dissertation Strauss, R 2016, Braking based integrated rollover prevention and yaw control for an off-road vehicle, MEng Dissertation, University of Pretoria, Pretoria, viewed yymmdd <http://hdl.handle.net/2263/61339> A2017 http://hdl.handle.net/2263/61339 en © 2017 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. application/pdf University of Pretoria |
| spellingShingle | UCTD Rollover prevention Yaw control Braking Systems Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure Engineering, built environment and information technology theses SDG-11 SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-03 SDG-03: Good health and well-being Braking based integrated rollover prevention and yaw control for an off-road vehicle |
| title | Braking based integrated rollover prevention and yaw control for an off-road vehicle |
| title_full | Braking based integrated rollover prevention and yaw control for an off-road vehicle |
| title_fullStr | Braking based integrated rollover prevention and yaw control for an off-road vehicle |
| title_full_unstemmed | Braking based integrated rollover prevention and yaw control for an off-road vehicle |
| title_short | Braking based integrated rollover prevention and yaw control for an off-road vehicle |
| title_sort | braking based integrated rollover prevention and yaw control for an off road vehicle |
| topic | UCTD Rollover prevention Yaw control Braking Systems Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure Engineering, built environment and information technology theses SDG-11 SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-03 SDG-03: Good health and well-being |
| url | http://hdl.handle.net/2263/61339 |