Überschlagsvermeidung bei kraftfahrzeugen durch invarianzregelung

Based on the principle of Invariance Control a nonlinear Rollover Avoidance Controller (RAC) has been developed for road vehicles with an elevated center of mass. The proposed modelbased RAC design approach takes into account unavoidable model parameter perturbations, delays and a discrete time implementation. The underlying nonlinear chassis-model, steering dynamics, and tire characteristics allow for guaranteed stability of the roll dynamics in realistic application scenarios. For evaluation of the described RAC a simulation environment was developed with a human driver in the closed loop. This approach allows to evaluate the RAC performance with unpredictable steering actions by the human driver. As human-machine-interface a novel haptic steering device and a 3D-animation of the road situation have been used.