Browse Topic: Rollover accidents

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Research on Vehicle Lateral Stability Under Flow Impact During Wading2026-01-0624To be published on 04/07/2026
The growing frequency of extreme rainfall events attributable to global climate change has heightened concerns regarding flood-related hazards to road traffic safety. Under wading conditions, vehicles become susceptible to lateral sliding, flotation, or rollover when exposed to lateral hydrodynamic impacts, jeopardizing both occupant safety and infrastructure integrity. Previous studies have primarily focused on longitudinal sliding instability—such as the critical flow velocity for vehicle motion initiation and buoyancy-related submersion depth—under forward or backward flow, employing theoretical analyses and flume experiments. However, research on the dynamic response of vehicles under lateral flow, the underlying mechanisms of lateral skidding, and multi-degree-of-freedom instability modes remains relatively limited. To address this gap, this study establishes a multi-body vehicle dynamics model for lateral flow conditions, incorporating lateral hydraulic forces and tire-road
Wei, Haoting, Tan, Gangfeng, Lang, Tao, Liu, chongjian, Tang, Jingning
Vault-Induced Pitchover Crash Testing of a Recreational Off-Highway Vehicle (ROV)2026-01-0546To be published on 04/07/2026
VVehicle pitchover crashes can result in very severe accelerations and forces. Literature and test data available on pitchover crashes is sparse. This paper presents the results of a full-scale pitchover/rollover crash test using an instrumented vehicle in a controlled and documented off-road environment. The test vehicle was driven to the launch point by an off-board operator using remote steering and throttle controls. The test vehicle then experienced an airborne phase during which forward pitching occurred, followed by a front-to-ground impact which induced additional pitchover motion. Then, following the initial front and rear impacts, the vehicle transitioned from a pitchover to rollover motion before coming to rest. The resulting vehicle motion, vehicle damage markings, and ground markings were documented with various slow motion and real time camera views. The test vehicle was instrumented with accelerometers, rotation rate sensors, and other sensors, the results of which
Warner, Mark, Warner, Wyatt, Swensen, Grant, Perl, Mark
Development of A Tire Blowout Experimental Platform for Dynamics and Control Validation2026-01-0202To be published on 04/07/2026
Tires are critical to vehicle dynamics, transmitting traction, braking, and cornering forces to the road. A tire blowout, the sudden and rapid loss of inflation pressure due to puncture or structural failure, can cause severe instability, rollover, or collisions. Understanding vehicle response during blowout events is essential for developing robust safety systems and control strategies. Earlier developed simulation models are used to study and understand vehicle behavior during blowouts, but there is a lack of on-road testing platforms to validate these models experimentally. A custom-built blowout device integrated with a data acquisition system has been developed to address this gap. It consists of multiple solenoid valves mounted on the wheel surface and powered by a 12V supply. All valves are triggered at the same time using an RF remote, producing rapid and synchronized deflation. An Arduino-based actuation system is being developed for individual valve actuation and custom
KANTHALA, Maha Vishnu Vardhan Reddy, Krishnakumar, Ashwin, Lin, Wen-Chiao, Chen, Yan
A Study on Vehicle Cornering Stiffness Estimation Based on Recursive Least Squares Method2026-01-0630To be published on 04/07/2026
This paper investigates a vehicle cornering stiffness estimation method based on recursive least squares (RLS), aiming to enhance automotive active control capabilities. Conventional parameter identification schemes reliant on onboard sensors are constrained by sensing range and cost limitations. This study explores an estimation algorithm utilizing generic motion signals, derives the theoretical relationship between yaw rate response and yaw stiffness, and designs an RLS approach for online identification of relevant model parameters. In a simulation environment, applying an ideal steering angle excitation demonstrated that the RLS algorithm converges within approximately one second and successfully estimates the cornering stiffness with an error of less than 5% relative to the set true value. Results indicate that under known vehicle basic parameters and ideal input conditions, the proposed algorithm can effectively complete cornering stiffness estimation. This work establishes an
Lang, Tao, Tan, Gangfeng, duan, xianqi, Shen, Leiming, Liang, Shuang
Safety Monitor for Off-Road Planning with Uncertainty Bounded Bekker Costs2026-01-0141To be published on 04/07/2026
Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance safety monitor that collaborates with any planner and uses a Bekker-based cost model with bounded uncertainty. The monitor builds an upper confidence traversal cost from a lightweight pressure sinkage model identified in field tests and checks each planned motion against two limits: maximum sinkage and rollover margin. If the risk of crossing either limit is too high, the monitor switches to a certified fallback that reduces vehicle speed, increases standoff from soft ground, or stops on firmer soil. This separation lets the planner focus on efficiency while the monitor keeps the vehicle within clear safety limits on board. Wheel geometry, wheel load estimate, and a soil raster serve as inputs, which tie safety directly to vehicle design and let the monitor set clear limits on speed, curvature, and stopping at
Naik, Akshay, Norris, William, Sreenivas, Ramavarapu S., Soylemezoglu, Ahmet, Nottage, Dustin S., Patterson, Albert
Advance Techniques to Optimize Variable Gear Ratio Steering for High Centre of Gravity Vehicles2026-26-00861/16/2026
Vehicles with a high center of gravity (CG) and moderate wheel track, like compact Sport Utility Vehicles (SUVs), have a relatively low Static Stability Factor (SSF) and thus are inherently less stable and more susceptible to rollover crashes. Moreover, to be more maneuverable in highly populated urban areas, a smaller Turning Circle Diameter (TCD) is necessary. Here, Variable Gear Ratio (VGR) steering systems have major benefits over traditional Constant Gear Ratio (CGR) systems in terms of enhancing both roll stability and agility. To adapt VGR steering systems to a particular vehicle dynamic, Full Vehicle (FV) and Driver-in-the-Loop (DIL) simulations are utilized. Using this method, exact calibration is possible according to realistic driving conditions so that the VGR steering C-factor curve is properly tuned for optimal handling in on-center, off-centre, and transitional areas of the Steering Wheel Angle (SWA). Primary performance measures—e.g., SWA gradients at different lateral
Rewale, Pratik, Kopiec, Jakub, Kumar, Deva, Rasal, Shraddhesh, Hussain, Inzamam, Nehal, S B
Static Rollover Stability Analysis of Heavy Tipper Vehicle2026-26-00901/16/2026
Heavy tipper vehicles are primarily utilized for transporting ores and construction materials. These vehicles often operate in challenging locations, such as mining sites, riverbeds, and stone quarries, where the roads are unpaved and characterized by highly uneven elevations in both the longitudinal and lateral directions of vehicle travel. During the unloading process, the tipper bodies are raised to significant heights, which increases the vehicle's centre of gravity, particularly if the payload material does not discharge quickly. Such conditions can lead to tipper rollover accidents, causing severe damage to life and substantial vehicle breakdowns. To analyse this issue, a study is conducted on the vehicle design parameters affecting the rollover stability of a 35-ton GVW tipper using multi-body simulations in ADAMS software. The tilt table test was simulated to determine the table angle at which wheel lift occurs. Initially, simulations are performed with the rigid body model
Vichare, Chaitanya Ashok, Patil, Sudhir, Gupta, Amit
Stability Prediction and Anti-Roll Control of Off-Road Vehicle Based on Multi-Objective Optimization2025-01-733012/31/2025
Off-road vehicles need to adapt to harsh road environments and wild driving, so their rollover stability is very important. It is of great significance to predict and control the rollover stability of off-road vehicles based on the vehicle's driving state. This paper adopts a prediction method for off-road vehicle stability based on TTR (Time to Rollover), uses the LQR (Linear Quadratic Regulator) multi-objective optimization control method to perform anti-rollover control. Firstly, in view of the rollover risk of intelligent off-road vehicles under extreme road conditions, a three-degree-of-freedom rollover model of the vehicle is established, and a rollover failure index is proposed. Then, based on the TTR, a rollover failure prediction algorithm is developed. Next, the braking force through LQR controller is determined and the differential braking method is adopted for vehicle anti-roll control. Finally, a simulation platform is built based on CarSim and Simulink to simulate and
Hu, Yutao, Ding, Ronghao, Wu, Dongmei, Wang, Jinxiang, Guan, Jie, Chen, Meng
Using Vehicle Kinematics to Enhance Situational Awareness2025-01-04779/16/2025
Armored vehicles offer limited view to the driver and crew. Two-dimensional vision-based situational awareness (SA) systems provide the driver a view of the area around the vehicle. The addition of distance to objects can offer a more comprehensive understanding of the surroundings assisting the driver with the locations of obstacles and rollover hazards. Methods currently available or under development for depth perception have issues limiting their utility in the field.. Some interfere with crew operations, others are are too costly, are not covert or require excessive processing. We offer a low-cost and computationally efficient approach called Kinetically Enhanced Situational Awareness (KESA) that derives distance to objects using existing SA sensors and processors combined with a knowledge of vehicle kinematics. We demonstrate how range can be used to enhance and supplement AI based driver assistance and threat warnings.
Pilgrim, Robert A., Brown, Roy C.
Impact of Battery Electric Conversion on Rollover Safety of Large Passenger Buses per UN ECE R6609-13-02-00098/1/2025
The electric conversion of a large passenger vehicle was investigated, in which the internal combustion engine and associated components were replaced by electric powertrain components. As this will have an influence on the rollover safety performance of the vehicle, compliance to the requirements of UN ECE Regulation No.66 was assessed. The vehicle geometry was captured through physical inspection. The unladen kerb mass of the vehicle was experimentally determined as 10660 kg. This mass excludes the mass of occupants as the vehicle is not fitted with occupant restraints. The location of the center of gravity was estimated using a representative CAD model. The center of gravity is located at a distance of 3580 mm behind the front axle and at a height of 1195 mm above the ground. An implicit nonlinear finite element (FE) analysis was conducted to quantify the energy absorption capability of a rollover hoop. This value was calculated as 5.65 kJ for a single rollover hoop and 67.80 kJ for
Raats, Daniel James, Venter, Gerhard, Bredell, Johann
Cab Roof Strength Evaluation - Quasi-Static Loading Heavy TrucksJ2422_202507 (Current)7/22/2025
This SAE Recommended Practice describes the test procedures for conducting quasi-static cab roof strength tests for heavy-truck applications. Its purpose is to establish recommended test procedures that will standardize the procedure for heavy trucks. Descriptions of the test setup, test instrumentation, photographic/video coverage, and test fixtures are included.
Truck Crashworthiness Committee
Analysis and Evaluation of Roll Safety Thresholds of Tractor Semi-Trailer Vehicles during Turning Maneuvers Based on the Yaw Rate of Vehicle Bodies and Roll Safety Factor02-18-04-00246/5/2025
Hung, Ta Tuan
Path Planning and Following Control of All-Wheel Steering Vehicle with Dual Modular Chassis2025-01-87934/1/2025
A large-scale logistics transport vehicle composed of two skateboard chassis is investigated in this paper. This unmanned vehicle with dual-modular chassis (VDUC) is suitable for transporting varying size of goods. The two chassis can be used jointly or driving separately as needed, which enhancing the reconfigurability of transport vehicle. Considering the road environment uncertainty and the rollover safety problem associated with large transport vehicle, this paper proposes the path planning of VDUC using the Artificial Potential Field(APF)+Model Predictive Control(MPC) while incorporating the rollover stability index. Due to the independent operation of the two modular chassis, based on the hierarchical control approach, the path following controller of the two modular chassis are designed separately according to the vehicle’s planned path. Distributed model predictive control is applied to coordinate the front and rear modular chassis, so it can realize the path following for the
Liu, Zuyang, Shen, Yanhua, Wang, Kaidi, wang, Haoshuai
YRSRA: Yaw and Roll Stable Region Analytics for Ground Vehicle System with 5G-V2X2025-01-87994/1/2025
Since most of the existing studies focus on the identification of the yaw stable region, but ignore the identification of the roll stable region, this article presents a software tool YRSRA for calculating both the yaw and roll stable region for ground vehicle system with 5G-V2X. And the frequency of rollover instability of commercial vehicles such as trucks and buses is not low, and the cost of rollover accidents is often greater than the cost of yaw instability accidents. Therefore, it is necessary to identify the stability region of yaw and roll at the same time. Firstly, the iterative model of yaw rate and slip angle is constructed through deducing the two-degree-of-freedom vehicle dynamics. Secondly, the load transfer ratio (LTR) is coded with given yaw rate and slip angle. Thirdly, several Illustrative examples are depicted, such as variation of steer angle, road adhesion coefficient and vehicle speed. The software features an easy to generate yaw and roll stability region by on
Tu, Lihong, Zeng, Dequan, Zhang, Zhouping, He, Qixiao, Zhao, Shuqi, Sun, Jing, Wang, Aichun, Yu, Qin, Ming, Jinghong, Wang, Xiaoliang, Hu, Yiming
Advancing Road Sensing Technology: Functional Observer for Vehicle Road Profile Estimation12-08-04-00383/24/2025
Having an in-depth comprehension of the variables that impact traffic is essential for guaranteeing the safety of all drivers and their automobiles. This means avoiding multiple types of accidents, particularly rollover accidents, that may have the capacity of causing terrible repercussions. The non-measured factors in the system state can be estimated employing a vehicle model incorporating an unknown input functional observer, this gives an accurate estimation of the unknown inputs such as the road profile. The goal of the proposed functional observer design constraints is to reduce the error of estimation converging to a value of zero, which results in an improved calculation of the observer parameters. This is accomplished by resolving linear matrix inequalities (LMIs) and employing Lyapunov–Krasovskii stability theory with convergence conditions. A simulator that enables a precise evaluation of environmental factors and fluctuating road conditions was additionally utilized. This
Saber, Mohamed, Ouahi, Mohamed, Naami, Ghali, El Akchioui, Nabil
Design, Modeling and Analysis of Roll Cage for SAE BAJA Vehicle2024-28-001210/17/2024
This paper studies design parameters, selection of materials and structural analysis for an All-Terrain Vehicle (ATV) BAJA roll cage at the event site in any possible situation. SolidWorks 2022 was used for creating the prototype of the roll cage and then both static structural as well as dynamic crash analysis for the roll cage was done using Altair HyperWorks 2023 for various collisions like front, rear, side, rollover, torsional, front bump, rear bump, front roll over, side roll over and rear roll over. In addition to their corresponding deformation, Von Mises stresses were observed and a safety factor was calculated for these load cases which was found to be in the range of 1.5 to 3. Without reducing the roll cage’s strength, the roll cage designed for a four-wheel drive configuration is developed with driver comfort and safety in mind. Finding the optimal safety factor is the core objective of the analysis, as it ensures in any situation, the ATV’s roll cage will stay secure.
L, Ravi Kumar, Sanjay P, Chiranjeev, T J, Pravin Chander, Moses J, Jebish, D, Parthesun, G, Sureshmani
Anti-Rollover Control for All-Terrain Vehicle Based on Zero-Moment Point2024-01-50554/30/2024
To investigate the rollover phenomena experienced by all-terrain vehicles (ATVs) during their motion caused by input from the road surface, a combined simulation using CarSim and Simulink has been employed to validate an active anti-rollover control strategy based on differential braking for ATVs, followed by vehicle testing. In the research process, a nonlinear three-degrees-of-freedom vehicle model has been developed. By utilizing a zero-moment point index as a rollover warning indicator, this approach could accurately detect the rollover status of the vehicle, particularly in scenarios involving low road adhesion on unpaved surfaces, which are characteristic of ATV operation. The differential braking, generating a roll moment by adjusting the amount of lateral force each braked tire can generate, was proved as an effective method to enhance rolling stability. Simulation and on-road testing results indicated that this control strategy effectively monitored the state of the ATV and
Hong, Hanchi, Wang, Kuan, d’Apolito, Luigi, Quan, Kangning, Yao, Xu
VISION: Vehicle Infrared Signature Aware Off-Road Navigation2024-01-26614/9/2024
Vehicle navigation in off-road environments is challenging due to terrain uncertainty. Various approaches that account for factors such as terrain trafficability, vehicle dynamics, and energy utilization have been investigated. However, these are not sufficient to ensure safe navigation of optionally manned ground vehicles that are prone to detection using thermal infrared (IR) seekers in combat missions. This work is directed towards the development of a vehicle IR signature aware navigation stack comprised of global and local planner modules to realize safe navigation for optionally manned ground vehicles. The global planner used A* search heuristics designed to find the optimal path that minimizes the vehicle thermal signature metric on the map of terrain’s apparent temperature. The local planner used a model-predictive control (MPC) algorithm to achieve integrated motion planning and control of the vehicle to follow the path waypoints provided by the global planner. Vehicle
Lonari, Yashodeep, Naber, Jeffrey, Korivi, Vamshi, Tison, Nathan, Rynes, Peter, Yeefeng, Ruan
Comparison of a Tractor-Semitrailer Rollover Test and HVE Simulations2024-01-24874/9/2024
Building upon prior research, this paper compares computer simulations to a previously conducted rollover crash test of a tractor-semitrailer. The effects of torsional stiffness were elucidated during the correlation of simulations to the rollover test. A commercially available vehicle dynamics and reconstruction software was used for the simulation. Unique aspects of the rollover crash test were modeled in the simulation. A tractor-semitrailer quarter-turn rollover crash test conducted by IMMI was reconstructed using impact and vehicle dynamics models within the simulation software HVE (Human, Vehicle & Environment). The SIMON (SImulation MOdel Non-linear) module and the DyMESH (Dynamic MEchanical SHell) module within HVE were used. During the IMMI test, onboard instrumentation recorded acceleration and roll rate data in six degrees of freedom to characterize both tractor and semitrailer dynamics before and during the rollover event. The roll angle and roll rate behavior of the HVE
Honeycutt, Daniel, Rogers, Gary, Yang, Shu, Chinni, James
Multi-Objective Optimization of Occupant Survival Space of a Medium-Duty Vehicle under Rollover Condition2024-01-22634/9/2024
Due to the high center of gravity of medium-duty vehicles, rollover accidents can easily occur during high-speed cornering and lane changes. In order to prevent the deformation of the body structure, which would restrict the survival space and cause compression injuries to occupants, it is necessary to investigate methods for mitigating these incidents. This paper establishes a numerical model of right-side rollover for a commercial medium-duty vehicle in accordance with ECE R66 regulations, and the accuracy of the model is verified by experiment. According to the results, the material and size parameters of the key components of the right side pillar are selected as design variables. The response result matrix was constructed using the orthogonal design method for total mass, energy absorption, maximum collision acceleration, and minimum distance from the survival space. A multi-objective optimization of 25 sets of sample points was performed using a multi-factor weight analysis
Zhang, Jiangfan, Zou, Xiaojun, Yuan, Liu-kai, Zhang, Tang-yun, Wang, Tao, Wang, Liangmo
Rollover Protection Structure - Gouge and Scratch Analysis in Rollover Crashes2024-01-24664/9/2024
Gouges and scratches to rollover protection structures are informative to the reconstruction and analysis of real-world vehicle rollover crashes. Variations in ground surface composition can be correlated with accompanying witness marks on the vehicle rollover protection structure. This paper presents the results of rollover protection structure specimen tests using a variety of test speeds and surface compositions. The test results and analyses that follow are displayed for use in comparison to similar damage on subject crash vehicles. In addition, impact of steel rollover protection structures with various opposing ground surface materials can produce visible sparks in low light conditions. Tests were performed to show the ability of these structures to produce sparks from various surface impacts.
Warner, Mark H., Swensen, Grant, Warner, Wyatt Y.
Digital Twin Based Multi-Vehicle Cooperative Warning System on Mountain Roads2024-01-19994/9/2024
Compared with urban areas, the road surface in mountainous areas generally has a larger slope, larger curvature and narrower width, and the vehicle may roll over and other dangers on such a road. In the case of limited driver information, if the two cars on the mountain road approach fast, it is very likely to occur road blockage or even collision. Multi-vehicle cooperative control technology can integrate the driving data of nearby vehicles, expand the perception range of vehicles, assist driving through multi-objective optimization algorithm, and improve the driving safety and traffic system reliability. Most existing studies on cooperative control of multiple vehicles is mainly focused on urban areas with stable environment, while ignoring complex conditions in mountainous areas and the influence of driver status. In this study, a digital twin based multi-vehicle cooperative warning system was proposed to improve the safety of multiple vehicles on mountain roads. First, implement
Tian, Liheng, Yu, Zirui, Chen, Xinguo
Analysis of the Roll Cage of an Electric All Terrain Vehicle (e-ATV) Using the Finite Element Method2023-01-51782/23/2024
The design and analysis of the roll cage for the ATV car are the subjects of this report. The roll cage is one of the key elements of an ATV car. It is the primary component of an ATV, on which the engine, steering, and gearbox are mounted. The vehicle's sprung mass is beneath the roll cage. The initiation of cracks and the deformation of the vehicle are caused by forces acting on it from various directions. Stresses are consequently produced. FEA of the roll cage is used in this paper in an effort to identify these areas. We have performed torsional analysis as well as front, rear, side impact, and rollover crash analyses. These analyses were all completed using ANSYS Workbench 2020 R1. The design process complies with all guidelines outlined in the SAE rule book of E-Baja.
Ayyakkannu, Vadivel, Sri Ram, P., Vijayakumar, Vishnu
Impact of Toe and Thrust Angle Misalignment on Roll Behaviour of a Heavy Commercial Road Vehicle2024-26-00561/16/2024
Heavy Commercial Road Vehicles (HCRVs) may be more susceptible to rollover incidents due to their higher centre of gravity position than passenger vehicles, and rollover is one of the significant causes of HCRV accidents. Therefore, variation in vehicle roll behaviour becomes crucial to the safety of an HCRV. Toe misalignment is a commonly observed phenomenon in HCRVs, and studying its impact on roll behaviour is important. In this study, the impact of the symmetric toe and thrust misalignment on the roll behaviour of an HCRV is analysed using IPG TruckMaker®, a vehicle dynamics simulation software. A ramp steer manoeuvre was used for the simulations, and the toe misalignment on a wheel was chosen from the range [-0.21°, 0.21°]. Variation in roll behaviour was quantified using the steering wheel angle at which one-wheel lift-off (OWL) occurred (SWAL). Additionally, an analytical model was formulated to predict OWL and the model predictions were compared with the results from IPG
Chandran, Amarchand, Grandhe, Roshan, Mukhopadhyay, Arko, Sharma, Mitanshu, Shankar Ram, C S
Letter from the Special Issue Editors09-11-02-00099/20/2023
Letter from the Special Issue Editors
Mueller, Becky, Bautsch, Brian, Mansfield, Julie
Effect of Torso Boundary Conditions on Spine Kinematic and Injury Responses in Head-First Impact Assessed with a 50th Percentile Male Human Body Model09-11-02-00149/20/2023
Computational and experimental studies have been undertaken to investigate injurious head-first impacts (HFI), which can occur during automotive rollovers. Recent studies assume a torso surrogate mass (TSM) boundary condition, wherein the first or first two thoracic vertebrae are potted and constrained to only move in the vertical loading direction. The TSM boundary condition has not been compared with a full body (FB) model computationally or experimentally for HFI. In this study, the Global Human Body Models Consortium 50th percentile male detailed human body model (M50-O, Version 6.0) was applied to compare the kinematic, kinetic, and injury response of an HFI with a TSM boundary condition (M50-TSM), and a full body boundary condition (M50-FB). Impacts (to M50-TSM and M50-FB) were simulated between the head and a rigid plate using a commercial FE code (LS-DYNA). The impact velocity of 3.1 m/s corresponded to the onset of spinal injury in diving reconstructions, and the impact
Morgan, M.I., Corrales, M., Cripton, P., Cronin, D.S.
Three-Dimensional In-Depth Dynamic Analysis of a Ground Vehicle Experiencing a Tire Blowout10-07-04-00308/31/2023
To investigate the effect of a tire blowout (TBO) on the dynamics of the vehicle comprehensively, a three-dimensional full-vehicle multibody mathematical model is developed and integrated with the nonlinear Dugoff’s tire model. In order to ensure the validity of the developed model, a series of standard maneuvers is carried out and the resulting response is verified using the high-fidelity MSC Adams package. Consequently, the in-plane, as well as out-of-plane dynamics of the vehicle, is extensively examined through a sequence of TBO scenarios with various blown tires and during both rectilinear and curvilinear motion. Moreover, the different possible inputs from the driver, the road bank angle, and the antiroll bar have been accounted for. The results show that the dynamic behavior of the vehicle is tremendously affected both in-plane and out-of-plane and its directional stability is degraded. It has been also found that a vehicle subjected to a TBO accident is prone to a fatal
Al Quran, Mahdi, Ra’ouf Mayyas, Abdel
LATERAL ROLLOVER SIMULATION OF HIGH MOBILITY MULTIPURPOSE WHEELED VEHICLE (HMMWV) AND EFFECTIVENESS OF RESTRAINTS SYSTEMS ON OCCUPANT RESPONSES2024-01-40088/10/2023
ABSTRACT Non-combat tactical vehicle incidents such as rollover are one of the major causes of soldier injuries and deaths. Rollover incidents are usually associated with multiple impacts which result in complex interactions between occupants and hard structural components. Detailed information of occupant responses in such rollover incidents are lacking, and to design effective occupant protection system and safety restraints systems, understanding the vehicle to occupant interaction is essential. The performance of ground vehicles during a rollover event is an important safety and occupant protection requirement for military vehicles. Modeling and simulation are a very useful tool in study and investigation of vehicle rollover characteristics and countermeasure concepts. The main goal of this research is to develop an M&S model of a HMMWV full vehicle system and evaluate the effectiveness of the different restraints systems in a lateral 25 mph rollover tests and its effect on
Babu, Venkatesh, Kang, Jian, Kankanalapalli, Sanjay, Sheng, Jim, Vunnam, Madan, Karwaczynski, Sebastian K., Jessup, Chris, Duncan, Mike
A RUNTIME MONITOR FOR PLATFORM PROTECTION AGAINST SKID-STEER UNTRIPPED ROLLOVERS2024-01-40608/10/2023
ABSTRACT Unmanned ground vehicles (UGVs) that autonomously maneuver over off-road terrain are susceptible to a loss of stability through untripped rollovers. Without human supervision and intervention, untripped rollovers can damage the UGV and render it unusable. We create a runtime monitor that can provide protection against rollovers that is independent of the type of high-level autonomy strategy (path planning, navigation, etc.) used to command the platform. In particular, we present an implementation of a predictive system monitor for untripped rollover protection in a skid-steer robotic platform. The system monitor sits between the UGV’s autonomy stack and the platform, and it ensures that the platform is not at risk of rollover by intercepting mobility commands sent by the autonomy stack, predicting platform stability, and adjusting the mobility commands to avoid potential rollovers. We demonstrate our implementation through experiments with skid-steer UGVs in Gazebo simulation
Dietrich, Elizabeth, Pohland, Sara, Genin, Daniel, Schmidt, Aurora, Vallabha, Gautam, Composto, Anthony, Randolph, Marcus
MODIFYING MILITARY TIRES FOR IMPROVED WINTER TRACTION2024-01-40198/10/2023
ABSTRACT As a continuation of previous collaborative efforts between several US Army organizations and industry leaders which led to the procurement of a National Stock Number (NSN) for a near commercial-off-the-shelf winter tire/wheel assembly for the High Mobility Multipurpose Wheeled Vehicle (HMMWV), this study investigates a low-cost, postproduction modification known as ‘siping’ which may incrementally improve standard tires deployed on the Joint Light Tactical Vehicle (JLTV) in cold regions. Data from engineering tests will quantify performance differences as well as driver feedback from the 11th Airborne Division Soldiers in Alaska show moderate improvement from cutting razor-thin grooves known as ‘sipes’ on conventional winter tire sets. However, Army winter performance specifications developed in 2021 from HMMWV testing quantify greater available improvement to traction available, necessitating further development for winter traction in the JLTV family of tire sets as well as
Witte, Clifford, Welling, Orian, Parker, Michael, Kamprath, Nathan
A Standard Set of Courses to Assess the Quality of Driving Off-Road Combat Vehicles2023-01-01144/11/2023
Making manned and remotely-controlled wheeled and tracked vehicles easier to drive, especially off-road, is of great interest to the U.S. Army. If vehicles are easier to drive (especially closed hatch) or if they are driven autonomously, then drivers could perform additional tasks (e.g., operating weapons or communication systems), leading to reduced crew sizes. Further, poorly driven vehicles are more likely to get stuck, roll over, or encounter mines or improvised explosive devices, whereby the vehicle can no longer perform its mission and crew member safety is jeopardized. HMI technology and systems to support human drivers (e.g., autonomous driving systems, in-vehicle monitors or head-mounted displays, various control devices (including game controllers), navigation and route-planning systems) need to be evaluated, which traditionally occurs in mission-specific (and incomparable) evaluations. To support the use of comparable test conditions, a set of combat-relevant driving courses
Green, Paul
Self-Propelled Sweepers and Scrubbers - Maximum Gradient Rating During Hopper DischargeJ2473_202304 (Current)4/4/2023
This SAE Standard establishes the maximum gradient rating during hopper discharge of self-propelled, driver-operated sweepers and scrubbers as defined by SAE J2130-1 and SAE J2130-2.
MTC2, Sweeper, Cleaner, and Machinery
Crashworthiness analysis of a corkscrew rollover event2022-36-00182/10/2023
The objective of this work is to capture the final deformed shape of a vehicle after a rollover caused by a corkscrew event (ramp). With this study, it will be possible to understand the vehicle structural behavior during this event and be able to improve the vehicle safety in this specific condition. For this proposal, it will be presented a virtual methodology using available commercial CAE tools and perform a crashworthiness analysis of the desired event. The first step is to capture the dynamic event through a Multibody analysis that represents the interaction among the vehicle tire, suspension components (Springs, Dampers, Jounce Bumper, Bushings, Stabilizer Bar etc.), vehicle structural stiffness, mass, center of gravity and inertias when exposed to a corkscrew standard ramp, that initiates the rollover event. This methodology will represent with fidelity all dynamic aspects of rollover event before the vehicle touches the ground. At this point, comparison of the analysis
Tedim Terra, Rafael, Santiago, Klemer, Santos, Alex, Sobral Genaro, Piero, Capusso, Rafael
Ambulance Modular Body Evaluation - Quasi-Static Loading for Type I and Type III Modular Ambulance BodiesJ3057_202302 (Current)2/6/2023
This SAE Recommended Practice describes the test procedures for conducting quasi-static modular body strength tests for ambulance applications. Its purpose is to establish recommended test practices which standardize the procedure for Type I and Type III bodies, provide ambulance builders and end-users with testing procedures and, where appropriate, provide acceptance criteria that, to a great extent, ensures the ambulance structure meets the same performance criteria across the industry. Descriptions of the test set-up, test instrumentation, photographic/video coverage, and the test fixtures are included.
Truck Crashworthiness Committee
Articulated Vehicle Stability Control Using Brake-Based Torque Vectoring on Trailer Using Nonlinear Model Predictive Control02-16-01-000710/17/2022
Unstable articulated vehicles pose a serious threat to the occupants driving them as well as the occupants of the vehicles around them. Articulated vehicles typically experience three types of instability: snaking, jack-knifing, and rollover. An articulated vehicle subjected to any of these instabilities can result in major accidents. In this study a Nonlinear Model Predictive Control (NMPC) that applies brake-based torque vectoring on the trailer is developed to improve the articulated vehicle stability. The NMPC formulation includes tire saturation and applies constraints to prevent rollover. The controller output is a left and right brake force allowing the longitudinal velocity change to be incorporated into the model. Simulations were conducted to instigate snaking and jack-knifing and show the NMPC controller result compared to a simple proportional controller. The NMPC controller can prevent these instabilities and improves the overall handling and safety of the articulated
Catterick, Jamie, Botha, Theunis, Els, Schalk
An Automated Procedure for Implementing Steer Input during Ditch Rollover CAE Simulation2022-28-036510/5/2022
Vehicle manufacturers conduct tests to develop crash sensing system calibrations. Ditch fall-over is one of a suite of laboratory tests used to develop rollover sensing calibrations that can trigger deployment of safety devices like roof rail airbags and seat belt pretensioners. The ditch fall-over test simulates a flat road followed by a ditch on one side of the road. The vehicle heads into the ditch and the driver applies swift steer input once the ditch slope is sensed. Typically, the steer input is applied when the two down-slope wheels on the ditch side enter the ditch. Multi-Body Dynamics (MBD) software can be used for virtual simulation of these test events. Conventionally in simulations, the vehicle-model is run without steer input and the marking line crossing time is observed/manually recorded from observation of simulation video. This recorded time is used to apply the steer input and the full event is then re-simulated. This latched time varies with respect to vehicle speed
Gawade, Tushar Rajaram, Wong, Jason
Numerical Analysis of Wind-Break Fences for Truck Stability in Crosswind02-16-02-001110/4/2022
Several accidents on the highways are due to strong crosswind conditions. The effectiveness of wind-break fences on a sudden strong crosswind has been investigated for a generic truck model. Two wind-break fences have been designed for stretching the rise time of aerodynamic loads. The dynamic response of the vehicle to crosswind while exiting a tunnel is simulated. Moving mesh CFD simulations and vehicle dynamics simulations are used to assess the effectiveness of the fences based on a safety index and the maximum lateral displacement of the vehicle. The proposed fences mitigate sudden aerodynamic loads and avoid the rollover of the vehicle.
Semeraro, Francesco Fabio, Cioffi, Antonio, Pellegrino, Emanuele, Schito, Paolo, Vignati, Michele
Sensitivity Analysis and Improvement of the Rollover Propensity of Large Articulated Vehicles on Roundabouts Using Design of Experiments02-16-02-00099/24/2022
In this article, safe driving methods for large articulated vehicles passing roundabouts are presented using the design of experiment (DOE) method. First, the roundabout driving safety evaluation based on the rollover propensity index calculated with the tire loads was performed through various PC-Crash simulation analysis. And, using the Taguchi method, which is a representative DOE method, major factors affecting the rollover index were set by type and the sensitivity analysis results were quantitatively obtained. Finally, safe driving methods at roundabouts for large articulated vehicles through systematic reduction of rollover propensity were presented, demonstrating that they can be directly applied to advanced driver assist systems.
Han, Inhwan
TELEOPERATED GROUND VEHICLE ROLLOVER PREVENTION VIA HAPTIC FEEDBACK OF THE ZERO-MOMENT POINT INDEX2024-01-39948/10/2022
ABSTRACT Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover. Citation: K. Steadman, C. Stubbs, A. Baskaran, C. G. Rose, D. Bevly, “Teleoperated Ground Vehicle Rollover Prevention via Haptic Feedback of the Zero-Moment Point Index,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium
Steadman, Kathleen, Stubbs, Chandler, Baskaran, Avinash, Rose, Chad G., Bevly, David
Seat Belt Restraint Evidence Generated by Unrestrained Occupant Interaction in a Rollover2022-01-08463/29/2022
Assessment of the physical evidence on a seat belt restraint system provides one source of data for determining an occupant’s seat belt use or non-use during a motor vehicle crash. The evidence typically associated with loading from a restrained occupant has been extensively researched and documented in the literature. However, evidence of loading to the restraint system can also be generated by other means, including the interaction of an unrestrained occupant with a stowed restraint system. The present study evaluates physical evidence on multiple stowed restraint systems generated via interaction with unrestrained occupants during a full-scale dolly rollover crash test of a large multiple passenger van. Unbelted anthropomorphic test devices (ATDs) were positioned in the driver and right front passenger seats and in all designated seating positions in the third, fourth, and fifth rows. Occupant kinematics during the dolly rollover were evaluated through on-board and off-board real
Miller, Bruce, Dibb, Alan, Allin, Leigh, Carhart, Michael, Krishnaswami, Ram
Research on Vehicle Rollover Warning and Braking Control System Based on Secondary Predictive Zero-Moment Point Position2022-01-09163/29/2022
To solve the contradiction between model complexity and the warning accuracy of the algorithm of the vehicle rollover warning, a rollover state warning method based on the secondary predictive zero-moment point position for vehicles is proposed herein. Taking a sport utility vehicle(SUV) as the research object, a linear three-degrees-of-freedom vehicle rollover dynamics model is established. On the basis of the model, the lateral position of the zero-moment point and its primary and secondary rates of change are calculated. Then, the theoretical solution of time-to-rollover of the vehicles is deduced from the lateral position of the secondary predictive zero-moment point. When the rollover warning index, the lateral position of the zero-moment point, is greater than the set threshold, the active anti-rollover control system will be triggered. The active anti-rollover braking control system adopts a hierarchical control strategy. Taking the rollover warning index as the control target
Wang, Haiyang, Hou, Liming, Shangguan, Wen-Bin
Rollover and Near-Rollover Kinematics During Evasive Steer Maneuvers2022-01-08553/29/2022
Vehicle rollovers are complex events that can be difficult to reconstruct. The goal of this study was to explore whether different vehicle trip models could identify when during the trip phase a vehicle possesses the dynamic conditions needed to rollover. We used three sport utility vehicles (SUVs) with either absent or disabled electronic stability control to conduct six tests involving a steer-induced control loss on a large flat concrete surface. Vehicle kinematics were measured using a GPS speed sensor, tri-axial accelerometers, tri-axial angular rate sensors, and both drone- and land-based video cameras. Four vehicle trip metrics were derived and evaluated using the vehicle dynamics between steer onset and the end of the trip phase. During three tests, one or more of the vehicle’s tires lifted off the ground but the vehicle did not roll. In the other three tests, the vehicle rolled. All four metrics showed differences between the non-rollover and rollover tests, with one metric
Young, Cole, King, David, Siegmund, Gunter
Vehicle Load Estimation Using Recursive Total Least Squares for Rollover Detection2022-01-09143/29/2022
This paper will describe the development of a load estimation algorithm that is used to estimate the load parameters necessary to detect a vehicle’s proximity to rollover. When operating a vehicle near its handling limits or with large loads, vehicle rollover must be considered for safe operation. Vehicle mass and center of gravity (CG) height play a large role in a vehicle’s rollover propensity. Cargo and passenger vehicles operate under a range of load configurations; therefore, changes in load should be estimated. Researchers have often developed load estimation and rollover detection algorithms separately. This paper will develop a load estimation algorithm and use the load estimates and vehicle states to detect rollover. The load estimation algorithm uses total least squares and is broken into two parts. First, mass is estimated based on a “full-car” dynamic ride model. Next, the CG height and inertia are estimated using the previously estimated mass and a dynamic roll model
Hilyer, Trenton, Bevly, David M.
Design and Simulation of Active Anti-Rollover Control System for Heavy Trucks2022-01-09093/29/2022
With the rapid development of the logistics and transportation industry, heavy-duty trucks play an increasingly important role in social life. However, due to the characteristics of large cargo loads, high center of mass and relatively narrow wheelbase, the driving stability of heavy trucks are poor, and it is easy to cause rollover accidents under high-speed driving conditions, large angle steering and emergency obstacle avoidance. To improve the roll stability of heavy trucks, it is necessary to design an active anti-rollover control system, through the analysis of the yaw rate and the load transfer rate of the vehicle, driving states can be estimated during the driving process. Under the intervention of the control system, the lateral transfer rate of heavy trucks can be reduced to correct the driving posture of the vehicle body and reduce the possibility of rollover accidents. At present, anti-rollover control system is mainly based on the differential brake, However, in actual
Zeng, Qingyu, Ou, Chunguo, Chen, Lingtao, Zhu, Chaoqi, Tan, Gangfeng
Model Reference Adaptive Control of Semi-active Suspension Model Based on AdaBoost Algorithm for Rollover Prediction10-06-01-000511/9/2021
Due to their large volume structure, when a heavy vehicle encounters sudden road conditions, emergency turns, or lane changes, it is very easy for vehicle rollover accidents to occur; however, well-designed suspension systems can greatly reduce vehicle rollover occurrence. In this article, a novel semi-active suspension adaptive control based on AdaBoost algorithm is proposed to effectively improve the vehicle rollover stability under dangerous working conditions. This research first established a vehicle rollover warning model based on the AdaBoost algorithm. Meanwhile, the approximate skyhook damping suspension model is established as the reference model of the semi-active suspension. Furthermore, the model reference adaptive control (MRAC) system is established based on Lyapunov stability theory, and the adaptive controller is designed. Finally, on the same road condition, the rollover warning control simulations are carried out under the following conditions: the 180-degree step
Tianjun, Zhu, Wan, Hegao, Wang, Zhenfeng, Wei, Ma, Xu, Xuejiao, Zhiliang, Zou, Sanmiao, Du
Rollover Testing MethodsJ2926_202110 (Current)10/29/2021
The scope of this document is to provide an overview of the techniques found in the published literature for rollover testing and rollover crashworthiness evaluation at the vehicle and component levels. It is not a comprehensive literature review, but rather illustrates the techniques that are in use or have been used to evaluate rollover crashworthiness-related issues.
Impact and Rollover Test Procedures Standards Committee
Research on Trajectory Planning and Tracking Strategy of Lane-changing and Overtaking based on PI-MPC Dual Controllers2021-01-126210/11/2021
Aiming at the problem of poor robustness after the combination of lateral kinematics control and lateral dynamics control when an autonomous vehicle decelerates and changes lanes to overtake at a certain distance. This paper proposes a trajectory determination and tracking control method based on a PI-MPC dual algorithm controller. To describe the longitudinal deceleration that satisfies the lateral acceleration limit during a certain distance of lane change, firstly, a fifth-order polynomial and a uniform deceleration motion formula are established to express the lateral and longitudinal displacements, and a model prediction controller (MPC) is used to output the front wheel rotation angle. Through the dynamic formula and the speed proportional-integral (PI) controller to control and adjust the brake pressure. Based on simulation to optimize the best lane change completion time coefficient at different longitudinal lane change speeds, the relationship between the vehicle collision
Yin, Jian, Chen, Xu Jia, Zu, Bingfeng, Xu, Yuliang, Zhou, Jianwei
REDUCED ORDER MODELLING METHOD (ROMM) FOR GROUND VEHICLE ROLLOVER PROTECTION M&S2024-01-39038/10/2021
ABSTRACT The performance of ground vehicles during a rollover event is an important safety and occupant protection requirement for military vehicles. Modeling and simulation is a very useful tool in study and investigation of vehicle rollover characteristics and countermeasure concepts. This study presents two methods of simulating the rollover events. The first one uses Full System Method (FSM), where all the components are modelled as is and are evaluated. The second method is a reduced order modelling method (ROMM) using integration of the resulted kinematics data from FSM into the vehicle model with occupant & restraints. The FSM & ROMM methods were applied to simulate two HMMMV rollover events, and the results from both methods show that simulation and test data agreed fairly well. Computational time reduced by the ROMM was about 53% of that of the FSM. ROMM approach not only saves significant computational time but also increases robustness of the simulation. Citation: V. Babu, J
Babu, V., Kang, J., Kankanalapalli, S., Sheng, J., Vunnam, M., Karwaczynski, S. K., Jessup, C., Duncan, M., Paulson, K.
Tanker Truck Rollover Avoidance Using Learning Reference Governor2021-01-02564/6/2021
Tanker trucks are commonly used for transporting liquid material including chemical and petroleum products. On the one hand, tanker trucks are susceptible to rollover accidents due to the high center of gravity when they are loaded and due to the liquid sloshing effects when the tank is partially filled. On the other hand, tanker truck rollover accidents are among the most dangerous vehicle crashes, frequently resulting in serious to fatal driver injuries and significant property damage, because the liquid cargo is often hazardous and flammable. Therefore, effective schemes for tanker truck rollover avoidance are highly desirable and can bring a considerable amount of societal benefit. Yet, the development of such schemes is challenging, as tanker trucks can operate in various environments and be affected by manufacturing variability, aging, degradation, etc. This paper considers the use of Learning Reference Governor (LRG) for tanker truck rollover avoidance. The LRG is an add-on
Liu, Kaiwen, Li, Nan, Kolmanovsky, Ilya, Rizzo, Denise, Girard, Anouck
Safety Speed Warning System for Tank Truck against Rollover2021-01-09784/6/2021
The tank truck has a wide range of application. When the liquid in the tank is not fully loaded, the lateral movement of the liquid in the tank will shift the center of gravity of the tank truck and make the vehicle less safe. It is easy to roll over when the tank truck is turning. This study combines the vehicle dynamic characteristics and geographic information, which gives the driver safe speed and safe braking distance tips before turning, to reduce the traffic accidents caused by driver's misjudgment. The dynamic model of the tank truck is established, through collecting the real-time information of the vehicle, the vehicle load and braking torque are calculated by the relevant dynamic model. The system needs to measure the deviation of the center of gravity in the tank truck movement process, and the deviation of the center of gravity has a great influence on the safety speed. The vehicle center of gravity position model is established, the sensor in the tank truck is used to
Feng, Jiaming, Tan, Gangfeng, Ye, Meng, Chen, Kailang, Huang, Xin
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