Heavy vehicle modeling, evaluation and prevention of rollover risk

A lot of researches about vehicle-road interaction have been performed without taking into account the infrastructure characteristics (radius of curvature, skid resistance, evenness, super elevation, slope...). These signals coming from the road are very important in the vehicle dynamics, because they contribute to generate the contact tire forces of heavy vehicles. In this paper, we show the influence of the road profile in the heavy vehicle modelling and we propose a method to evaluate the vertical forces based on third order sliding mode observer. This technic is very common in the dynamic systems field and the results of researchs are very satisfactory. First, we develop a heavy vehicle model in interaction with road. Some simulation results are given in order to prove the robustness of the proposed method. Then the vertical forces are estimated to calculate the LT R (Load Transfer Ratio) coefficient, which allow us to evaluate the rollover risk of heavy vehicle