Vehicle Rollover Prevention Using the Zero-Moment Point in an LQR Output Regulator

This research investigates vehicle control techniques for rollover prevention in a collision avoidance scenario. The zero-moment point (ZMP) is used to evaluate the vehicle’s current and near-future rollover propensity with the purpose of predicting and correcting impending wheel lift. Specifically, a linear-quadratic (LQ) output regulator is utilized to safely navigate the vehicle through a collision avoidance maneuver, while employing a weighting scheme that explicitly accounts for rollover prevention through the ZMP. Results show that ZMP regulation is able to reduce the peak rollover threat to the vehicle. Additionally, it is shown that regulation of ZMP in the near future (previewed ZMP) does not necessarily result in a safe maneuver at the present time.