Research on rollover warning time of independent drive heavy vehicle based on closed-form method

Accurate and real-time rollover warning system provides an appropriate opening and closing opportunity for vehicle anti-rollover control system. To balance algorithmic complexity, warning accuracy, and real-time performance, a closed-form time-to-rollover prediction method, referred to as the CF-TTR method, is proposed. By algebraically eliminating intermediate dynamic variables, the proposed method directly expresses the predicted time to rollover in a closed mathematical form, avoiding the iterative calculation of numerical methods and improving the real-time performance of the algorithm. In the two classic rollover conditions of heavy vehicle tripped and untripped, the simulation analysis shows that the proposed CF-TTR method rollover warning algorithm is 0.58s earlier than the traditional algorithm warning time, and the optimisation is 15.93%. The HIL test shows that the stability of the vehicle anti-rollover control process is improved by 28.57% after the integration of the rollover warning algorithm.