Real-Time Digital Twin for Construction Vehicle Stability Assessment and Visualization with Improved Front-Loader Payload Estimation

The stability assessment of construction vehicles, which are part of a constantly growing market, is of a high importance for safety and working efficiency. For such vehicles, the stability is mainly impacted by the carried payload. In this paper, a state of the art payload estimation method, based on simplified motion equations, is further improved by coupling it with accurate real-time multibody modelling. An example, that allows to reduce the important impact of joints damping on the payload estimation method, is developed and validated in this paper. A reduction of the payload estimation moving window root mean square error from 12.8% to 2.9% is obtained. Finally, the tractor multibody digital-twin is integrated in a real-time system on a physical setup, allowing to process the signals of the tractor and provide an easy to interpret visualization of the vehicle stability to the operator.