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  Int. J. Vehicle Safety, Vol. 4, No. 4, 2009 315  Copyright © 2009 Inderscience Enterprises Ltd. Rollover stabilisation in electric vehicles Richa Bansal*, Tushar Sharma and Sudipto Mukherjee Department of Mechanical Engineering, Indian Institute of Technology, Huaz Khas, New Delhi 110016, India E-mail: [email protected] E-mail: [email protected] E-mail: [email protected] *Corresponding author Abstract: Rollover is conventionally resisted in vehicles through passive design techniques like low CG height to wheel-base ratio and some suspension design principles. Of late, active traction and suspension control have been suggested to limit rollover instances. The automobile trajectory is defined by rigid body kinematics once rollover is initiated. Since a rollover incidence, from wheel lift off to impact takes as much as 3 sec, the possibility of rollover  prevention by actuating the independent in-wheel motors in electric vehicles is investigated. The necessary motor orientation and torque to control the rollover of airborne vehicle are determined. A vehicle solver (VS) code is developed in CarSim which puts a rollover stabilisation system in effect as soon as the wheels lift off the ground. Simulation r esults show that mild to medium vehicle rollovers can be prevented when a stabilising angular momentum is provided  by rotating the axis of the airborne wheels. Keywords: electric vehicles; rollover; rollover stabilisation; in-wheel motors; airborne vehicle; vehicle lift off; Robot Wheels; gyroscopic effect; COM; centre of mass; active intervention techniques; active torque control; safety. Reference to this paper should be made as follows: Bansal, R., Sharma, T. and Mukherjee, S. (2009) ‘Rollover stabilisation in electric vehicles’,  Int. J. Vehicle Safety, Vol. 4, No. 4, pp.315–329. 1 Introduction The number of electric motor vehicles is rapidly rising with increasing attention towards environment issues. The development of fuel cells and small electric motors suitable for  passenger cars is accelerating the trend. Electric vehicles with in-wheel motors have the  potential for advanced vehicle motion control and hence increased vehicle safety. The vehicles with in-wheel motors can use the individualised control of wheel torque and orientation to achieve efficient and stable driving condition. Establishing a method to determine the necessary stabilising torque and controlling the vehicle with the target torque are important parameters which need to be determined to improve the vehicle  performance.

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