Anti-rollover motion planning for heavy-duty vehicle

The rollover dynamics has been few touched on during the study of path planning in current researches. This paper proposed an anti-rollover motion planning for heavy-duty vehicle. Taking the coupling of roll motion of sprung mass of the front axle with that of the drive axle into consideration, 7 degrees of freedom vehicle rollover model is established, and an evaluation index that can accurately describe the rollover motion state is derived. Then, the Model Predictive Control (MPC) is designed for motion planning which combining the rollover dynamics, artificial potential field for obstacle avoidance and trajectory tracking. Thus, the optimal path without collision risk, rollover trend and vehicle dynamics constraint is calculated. Finally, some typical scenarios are applied to validate the performance of the proposed motion planning. Results state that the anti-rollover motion planning can avoid collisions effectively and reduce the rollover risk simultaneously.