Research on Rollover Early Warning Algorithm for Heavy Tractor- Semitrailer Based on PTR Metric

The paper sets up a vehicle dynamic model which is used to determine rollover risk of heavy tractor-semitrailer under various driving conditions; therefore it can help the driver to react accordingly. Using this real-time dynamic model, the predictive time to rollover (PTR), which is decided by load transfer ratio (LTR) of trailer axle when it reaches its limit value, can be determined as the rollover early warning index. The paper suggests a new algorithm of rollover early warning for heavy tractor-semitrailer based on accurate PTR metric which is obtained through EKF observer. The verification of the vehicle dynamic model is realized by Trucksim vehicle model and the simulation results show that the predicted values of the LTR are close to the simulated ones, and hence the proposed algorithm is potentially suitable for application in rollover risk assessment.