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Design of Rollover Prevention Controller Using Game-Theoretic Approach

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  • Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat’l Univ. of Sci. and Tech.)
  • 임성진 (서울과학기술대학교 기계자동차공학과)
  • Received : 2013.04.23
  • Accepted : 2013.09.11
  • Published : 2013.11.01

Abstract

This study presents an approach for designing a vehicle rollover prevention controller using differential game theory and multi-level programming. The rollover prevention problem can be modeled as a non-cooperative zero-sum two-player differential game. A controller as an equilibrium solution of the differential game guarantees the worst-case performance against every possible steering input. To obtain an equilibrium solution to the differential game with a small amount of computational effort, a multi-level programming approach with a relaxation procedure is used. To cope with the loss of maneuverability caused by the active suspension, an electronic stability program (ESP) is adopted. Through simulations, the proposed method is shown to be effective in obtaining an equilibrium solution of the differential game.

Keywords

Differential Game Theory;Multi-Level Programming;Active Suspension;Electronic Stability Program

Acknowledgement

Supported by : 서울과학기술대학교

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