Real–time hardware–in–the–loop simulation of time to rollover warning for heavy commercial vehicles

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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  • Accession Number: 01528085
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Jun 5 2014 1:57PM