Real-time hardware-in-the-loop simulation of time to rollover warning for heavy commercial vehicles Online publication date: Sat, 25-Oct-2014
by Kenan Ünal; Levent Güvenç
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 21, No. 2, 2014
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.
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