Title: Real-time hardware-in-the-loop simulation of time to rollover warning for heavy commercial vehicles

Authors: Kenan Ünal; Levent Güvenç

Addresses: Mekar Labs, Faculty of Engineering and Architecture, İstanbul Okan University, Akfırat, Tuzla, İstanbul, Turkey ' Mekar Labs, Faculty of Engineering and Architecture, İstanbul Okan University, Akfırat, Tuzla, İstanbul, Turkey

Abstract: Developing anti-rollover warning systems and rollover avoidance controllers for heavy commercial vehicles continues to be a focus of research attention as a large number of fatal accidents occur due to the rollover of trucks. The dynamic rollover propensity metric known as TTR, namely the Time-To-Rollover, which estimates the time it will take until rollover if the steering is kept at the current level is used here as part of a real-time, hardware-in-the-loop rollover warning indicator system. A real-time capable and realistic fifth order linear dynamic vehicle model available in the literature and consisting of a combination of roll and yaw dynamics with velocity and steering level scheduled varying parameters is used here. The main contribution of this paper is a hardware-in-the-loop simulator for real-time TTR computation. The warning system developed in the hardware-in-the-loop simulator can then be implemented and tested in a real truck.

Keywords: rollover warning; hardware-in-the-loop simulation; heavy commercial vehicles; heavy vehicles; dynamic modelling; vehicle modelling; vehicle model validation; active safety systems; real-time HiW; rollover avoidance control; trucks; time-to-rollover; TTR; vehicle dynamics; vehicle safety.

DOI: 10.1504/IJHVS.2014.061633

International Journal of Heavy Vehicle Systems, 2014 Vol.21 No.2, pp.105 - 122

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 27 May 2014 *

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