Approximation of the Vehicle Stability Domain using Interval Analysis

Hoda Dandach (1) , Jérôme de Miras (1) , Ali Charara (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper proposes a new approach to compute and predefine a state space where the vehicle is stable, using interval analysis. We call this state space the vehicle stability domain. The vehicle state p is composed of the longitudinal and lateral accelerations at the center of gravity. The vehicle stability is described using risk indicators as the rollover index LTR of the vehicle, the longitudinal slip ratio, and the side slip angle of each wheel. These three elements form the vector y. We compute the set of accelerations that correspond to acceptable values of y. We use interval analysis to give inner and outer approximations of this set with a maximal guaranteed accuracy. In order to illustrate the principle and efficiency of the approach, a validation with simulated data is provided.

Mots clés: Intelligent vehicle; interval analysis; vehicle stability domain

Domaines: Robotique [cs.RO]; Automatique / Robotique; Systèmes et contrôle [cs.SY]

Hoda Dandach, Jérôme de Miras, Ali Charara. Approximation of the Vehicle Stability Domain using Interval Analysis. 16th IEEE International Annual Conference on Intelligent Transportation Systems (ITSC 2013), Oct 2013, The Hague, Netherlands. pp.91-98. ⟨hal-00923323⟩