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ATV rollover prevention system including varying grip conditions and bank angle

Abstract : In this paper, an algorithm dedicated to light ATVs, which estimates and anticipates the rollover, is proposed. It is based on the on-line estimation of the Lateral Load Transfer (LLT), allowing the valuation of dynamic instabilities. The LLT is computed thanks to a dynamical model split into two 2D projections. Relying on this representation and a low cost perception system, an observer is proposed to estimate on-line the terrain properties (grip conditions and slope), then allowing to deduce accurately the risk of instability. Associated to a predictive control algorithm, based on the extrapolation of rider action, the risk can be anticipated, enabling to warn the pilot and to consider the implementation of active action.
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Submitted on : Wednesday, February 27, 2013 - 11:28:37 AM
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  • HAL Id : hal-00795078, version 1
  • IRSTEA : PUB00036611



M. Richier, R. Lenain, Benoît Thuilot, M. Berducat. ATV rollover prevention system including varying grip conditions and bank angle. 3rd International Conference on Machine Control & Guidance, Mar 2012, Stuttgart, Germany. 10 p. ⟨hal-00795078⟩



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