Rollover Risk Prediction of Heavy Vehicle Using High-Order Sliding-Mode Observer: Experimental Results

In this paper, an original method about heavy-vehicle rollover risk prediction is presented and validated experimentally. It is based on the calculation of the load transfer ratio (LTR), which depends on the estimated vertical forces using high-order sliding-mode (HOSM) observers. Previously, a tractor model is developed. The validation tests were carried out on an instrumented tractor rolling on the road at various speeds and lane-change maneuvers. Many scenarios have been experienced: driving tests in a straight line, a curve, and a zigzag line, and brake tests to emphasize the rollover phenomenon and its prediction to set off an alarm to the driver. In this paper, the vehicle dynamic parameters (masses, inertia, stiffness, etc.) and the static-force infrastructure characteristics (road profile, radius of curvature, longitudinal and lateral slopes, and skid resistance) are measured or calculated before the tests.