| Title: | OS24-4 Automatic Anti-Lock Brake System for Anti-Rollover Control of Autonomous Heavy-Duty Truck |
|---|---|
| Publication: | ICAROB2022 |
| Volume: | 27 |
| Pages: | 635-640 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2022.OS24-4 |
| Author(s): | Chian C. Ho, Riki Umami Sanaz Ulfitria |
| Publication Date: | January 20, 2022 |
| Keywords: | Anti-lock Brake System (ABS), anti-rollover, autonomous truck |
| Abstract: | In recent years, there are more and more rollover accidents about autonomous heavy-duty trucks or autonomous heavy-duty forklifts in intelligent airports or seaports. These accidents lead to the hot research field about the prevention of rollovers in advance for autonomous vehicles, especially in autonomous heavy-duty trucks or forklifts. This paper develops an automatic Anti-lock Brake System (ABS) as one way to stabilize the autonomous vehicles. Then, through monitoring both vehicle's and wheel's speeds, this paper helps the autonomous vehicle keep stability control with automatic ABS even when the wheels halt or slip on the road. This paper adopts TruckSim to model the vehicle safety dynamics and MATLAB/Simulink to simulate the vehicle stability control. Experimental results show that the elaborate automatic ABS proposed by this paper can smoothly keep the vehicle stable and tractive even under dangerous road conditions of sharp corner or hairpin turn |
| PDF File: | https://alife-robotics.co.jp/members2022/icarob/data/html/data/OS/OS24/OS24-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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