Determine the dynamic rollover threshold and roll safety thresholds of tractor semi-trailer vehicles when turning maneuver based on the yaw rate parameters: A simulation approach

The article aims to evaluate the dynamic rollover threshold and roll safety threshold of a tractor semi-trailer vehicle when turning maneuver, based on the vehicle body’s yaw rate parameters. A full dynamics model with the Burckhardt tire model is presented, using the Multibody System method and the Newton-Euler equation system. The model is used to simulate and investigate the motion state of a tractor semi-trailer vehicle when turning maneuver on dry asphalt roads. The survey results show the stability zone and rollover zone for initial velocities ranging from 40 to 80 km/h and the magnitude of steering wheel angles ranging from 12.5 to 300 deg. Using the proposed load transfer ratio, rollover and roll safety zones have been established. The Dynamic Rollover Threshold (DRT) and Roll Safety Thresholds (RSTs) based on the yaw rate parameter are presented. This article demonstrates that vehicle speed and steering wheel angle are key factors that affect the yaw rate dynamic rollover threshold and yaw rate roll safety thresholds of a tractor semi-trailer vehicle. At a speed of 70 km/h, the Dynamic Rollover Threshold based on the yaw rate parameter (YDRT) for tractor and semi-trailer is 13.932 and 13.116 deg/s, respectively. When selecting Proposed Load Transfer Ratio (LTR prop ) = 0.8, Roll Safety Threshold based on the Yaw rate parameter (YRST) are 11.286 and 11.028 deg/s for the tractor and semi-trailer, respectively. LTR prop = 0.7, the YRST are 10.176 and 10.058 deg/s for the tractor and semi-trailer, respectively. The results of this study can serve as a basis for designing early warning and anti-roll control systems of tractor semi-trailer when turning maneuver.