Path-Dependent Rollover Prevention for Critical Truck Maneuvers
Predicting rollover is usually performed using rollover indices, where rollover
is anticipated when the indices reach certain threshold values. If knowledge about the vehicle
driving path is available, rollover can be detected and prevented earlier. In this work, the rollover-
prediction and rollover-prevention abilities for simple vehicle models are evaluated and compared
against a high-fidelity vehicle model. The analysis is performed by using the models in critical and
rollover-prone maneuvers, generated with optimal control methods. The main conclusion is that a
simple point-mass model would be sufficient in a velocity based rollover-prevention controller.
Kristoffer Lundahl, Chih Lee, Erik Frisk and Lars Nielsen
2015
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