Real-time bus rollover prediction algorithm with road bank angle estimation

Abstract

The bus rollover warning has achieved many progresses for researcher endeavors in the past decades. But these researches have not taken account for dynamic road bank. To fill up the gap, this paper presents a real-time rollover trend prediction to indicate bus rollover risk with road bank estimation. The prediction algorithm consists of a dynamic roll stability analysis, which is based on a suspended roll plane model, and a real-time warning velocity calculation. An estimator for the dynamic road bank and vehicle sideslip angle estimation using the dynamic simplex algorithm (DSA) is designed to take into account the influence of road bank on rollover trend. By comparing maximum stable lateral acceleration to the affordable lateral acceleration depending on the tire/road friction limit, a warning velocity is determined using the measurement of lateral acceleration and the estimate of instantaneous vehicle turning radius. The proposed rollover trend prediction algorithm is evaluated by TruckSim software. Simulation results show that the proposed warning velocity can represent the vehicle potential to resist rollover and give appropriate prediction of vehicle rollover crashes in typical scenarios.

Trajectory Planning for an Autonomous Vehicle in Multi-Vehicle Traffic Scenarios

“…Additionally, especially when considering heavy-duty vehicles, major safety requirements applied on the speed planner are rollover prevention (Hu et al, 2019) and skidding (Han et al, 2014;Low et al, 2008). One interesting question is how detailed models are required to avoid dangerous roll behavior in heavy duty vehicles (Shim et al, 2007), especially since that depends not only on speed and curvature of the paths, but also on road conditions like banking (Guizhen et al, 2016). In Figure 1.2, a simplified roll model with influencing road and vehicle characteristics is illustrated.…”

Research on Stability Control Algorithm of Distributed Drive Bus under High-Speed Conditions

“…[35] used an optimal control method for an uncertain nonlinear system and applied differential braking to limit the maximum load transfer rate of the vehicle. Yu, G. [36] considered the dynamic road surface roughness side and estimated the instantaneous vehicle turning radius to determine the warning speed by comparing the maximum stable lateral acceleration at the limit of tire/road surface friction.…”