Rollover Prevention and Motion Planning for an Intelligent Heavy Truck

Abstract

It is very necessary for an intelligent heavy truck to have the ability to prevent rollover independently. However, it was rarely considered in intelligent vehicle motion planning. To improve rollover stability, a motion planning strategy with autonomous anti rollover ability for an intelligent heavy truck is put forward in this paper. Considering the influence of unsprung mass in the front axle and the rear axle and the body roll stiffness on vehicle rollover stability, a rollover dynamics model is built for the intelligent heavy truck. From the model, a novel rollover index is derived to evaluate vehicle rollover risk accurately, and a model predictive control algorithm is applicated to design the motion planning strategy for the intelligent heavy truck, which integrates the vehicle rollover stability, the artificial potential field for the obstacle avoidance, the path tracking and vehicle dynamics constrains. Then, the optimal path is obtained to meet the requirements that the intelligent heavy truck can avoid obstacles and drive stably without rollover. In addition, three typical scenarios are designed to numerically simulate the dynamic performance of the intelligent heavy truck. The results show that the proposed motion planning strategy can avoid collisions and improve vehicle rollover stability effectively even under the worst driving scenarios.

Synthesis of Hierarchical CdS/NiS Photocatalysts Using Ni−MOF‐74 as Template for Efficient Ethanol Conversion and Hydrogen Production under Visible Light

“…In contrast, the fluorescence intensity of CdS/NiS−N(100) is significantly reduced compared to CdS, indicating a lower recombination rate of photo‐generated electrons and holes in the composite material. This phenomenon supports the notion that the coupling interface formed between CdS and NiS in the composite material enhances the migration rate of electrons and holes [28] . Moreover, time‐resolved fluorescence spectroscopy (TRPL) was used to study the average decay time of the carriers in the material(Figure 6c).…”

Rational Construction of Electrostatic Self‐Assembly of Metallike MoP and ZnIn2S4 Based on Density Functional Theory to Form Schottky Junction for Photocatalytic Hydrogen Production

“…As shown in Figure a–c and Table 1 , all samples are type IV isotherms, and there is a lag between adsorption and desorption curves, which belongs to typical H3 hysteresis curves indicate that they all have mesoporous structures. [ 29,46 ] Table 1 shows that the specific surface areas of ZnIn 2 S 4 , MoP, and ZM‐20% are 118.36, 14.43, and 61.65 m 2 g −1 , respectively. Among them, ZnIn 2 S 4 has the largest specific surface area due to its 3D structure.…”

“…Transition‐metal phosphide has the characteristics of both metal and semiconductor, with strong conductivity and abundant potential active sites, so it has become a research hotspot in the field of catalysis. [ 27–31 ] Molybdenum phosphide (MoP), as the first transition‐metal phosphide applied in the field of catalysis, has a relatively complete research system. In the single crystal structure of molybdenum phosphide, due to the large radius of phosphorus atom, P entering the crystal lattice of metal Mo will lead to a decrease in lattice strength.…”

Development of a Fuzzy Algorithm With Multiple Inputs for the Active Stabilizer Bar to Improve Vehicle Stability When Steering

“…The system's control unit is designed indirectly to create impact forces that change the steering angle of the guide wheel. For heavy trucks, a complete control model has been developed based on the ideas of Jin et al [23]. The electric motor's speed control, which is standard on electric vehicles, also aids rollover prevention [24].…”