An Intelligent Predictive Algorithm for the Anti-Rollover Prevention of Heavy Vehicles for Off-Road Applications

Rollover detection and prevention are among the most critical aspects affecting the stability and safety assessment of heavy vehicles, especially for off-road driving applications. This topic has been studied in the past and analyzed in depth in terms of vehicle modelling and control algorithms design able to prevent the rollover risk. However, it still represents a serious problem for automotive carmakers due to the huge counts among the main causes for traffic accidents. The risk also becomes more challenging to predict for off-road heavy vehicles, for which the incipient rollover might be triggered by external factors, i.e., road irregularities, bank angles as well as by aggressive input from the driver. The recent advances in road profile measurement and estimation systems make road-preview-based algorithms a viable solution for the rollover detection. This paper describes a model-based formulation to analytically evaluate the load transfer dynamics and its variation due to the presence of road perturbations, i.e., road bank angle and irregularities. An algorithm to detect and predict the rollover risk for heavy vehicles is also presented, even in presence of irregular road profiles, with the calculation of the ISO-LTR Predictive Time through the Phase-Plane analysis. Furthermore, the artificial intelligence techniques, based on the recurrent neural network approach, is also presented as a preliminary solution for a realistic implementation of the methodology. The paper finally assess the efficacy of the proposed rollover predictive algorithm by providing numerical results from the simulation of the most severe maneuvers in realistic off-road driving scenarios, also demonstrating its promising predictive capabilities

A novel data-driven rollover risk assessment for articulated steering vehicles using RNN

Articulated steering vehicles have outstanding capability operating but suffer from frequent rollover accidents due to their complicated structure. It is necessary to accurately detect their rollover risk for drivers to take action in time. Their variable structure and the variable center of mass exhibit nonlinear time-variant behavior and increase the difficulty of dynamic modelling and lateral stability description. This paper proposes a novel data-driven modelling methodology for lateral stability description of articulated steering vehicles. The running data is first collected based on the typical operations that prone to rollover and then classified into two types: Safety and danger. The data quality is further improved by wavelet transformation. Finally, an RNN model is built on the data. The experimental results show that the output of the RNN model can accurately quantify lateral stability of the vehicle, i.e., the risk of rollover, when it is turning and crossing uneven surfaces or obstacles

Road Surface Estimation Using Machine Learning

Vehicle motion control systems are present on commercial vehicles to improve safety and driving comfort. Many of these control systems could be further improved given accurate online information about the road condition to accommodate for driving under poor weather conditions such as icy roads or heavy rain. However, sensors for direct friction measurement are not present on commercial vehicles due to production costs. Hence, it is beneficial to incorporate an online estimation scheme for road surface classification. This thesis focuses on investigating two fundamentally different machine learning-based methods for road surface classification. The first is an artificial neural network that provides a global function approximation of the underlying dynamics. In particular, Long Short-Term Memory (LSTM) units are used to capture temporal relationships within the training data and to mitigate the vanishing gradient problem. The second is an instance-based learning method referred to as Nadaraya-Watson Kernel Regression, where local function approximations are generated around the input data. Results indicated that both machine learning-based methods were able to classify road conditions to a reasonable degree of accuracy after tuning associated hyperparameters. However, each method has different benefits and drawbacks. The LSTM network model was capable of making accurate predictions on inputs drastically different from data points within the training data set, was generally more accurate on predictions associated with new driving maneuvers, required less storage for implementation, and had relatively short prediction times. Conversely, the Nadaraya-Watson Kernel Regression model was generally more accurate at making predictions on inputs that were very similar to data points within the training data set, did not require any training time to incorporate newly collected data into the model, and generated predictions that were more easily explainable

Accident prediction using machine learning:analyzing weather conditions, and model performance

Abstract. The primary focus of this study was to investigate the impact of weather and road conditions on the severity of accidents and to determine the feasibility of machine learning models in accurately predicting the likelihood of such incidents. The research was centered on two key research questions. Firstly, the study examined the influence of weather and road conditions on accident severity and identified the most related factors contributing to accidents. We utilized an open-source accident dataset, which was preprocessed using techniques like variable selection, missing data elimination, and data balancing through the Synthetic Minority Over-sampling Technique (SMOTE). Chi-square statistical analysis was performed, suggesting that all weather-related variables are more or less associated with the severity of accidents. Visibility and temperature were found to be the most critical factors affecting the severity of road accidents. Hence, appropriate measures such as implementing effective fog dispersal systems, heatwave alerts, or improved road maintenance during extreme temperatures could help reduce accident severity. Secondly, the research evaluated the ability of machine learning models including decision trees, random forests, naive bayes, extreme gradient boost, and neural networks to predict accident likelihood. The models’ performance was gauged using metrics like accuracy, precision, recall, and F1 score. The Random Forest model emerged as the most reliable and accurate model for predicting accidents, with an overall accuracy of 98.53%. The Decision Tree model also showed high overall accuracy (95.33%), indicating its reliability. However, the Naive Bayes model showed the lowest accuracy (63.31%) and was deemed less reliable in this context. It is concluded that machine learning models can be effectively used to predict the likelihood of accidents, with models like Random Forest and Decision Tree proving the most effective. However, the effectiveness of each model may vary depending on the dataset and context, necessitating further testing and validation for real-world implementation. These findings not only provide insight into the factors affecting accident severity but also open a promising avenue in employing machine learning techniques for proactive accident prediction and mitigation. Future studies can aim to refine the models further and potentially integrate them into traffic management systems to enhance road safety

A real-time non-linear vehicle preview model

Vehicle accident statistics indicate that fatalities due to rollover of sport utility vehicles (SUVs) are of international concern. Soft suspension, combined with high centre-of-gravity, increase SUV rollover propensity. Control strategies for prevention or mitigation of rollover, based on the current state of the vehicle, exist but most experience a delay in switching, due to response times of the controllers and actuators used to control vehicles dynamics. This paper proposes a real-time non-linear vehicle preview model (VPM) capable of accurately predicting future vehicle states based on current states. The preview model is developed and experimentally validated on a SUV. Results indicate that important vehicle states, including roll angle and lateral acceleration, can be accurately predicted up to more than 0.25 s into the future. Vehicle dynamics controllers can use the previewed states instead of the measured states to eliminate delays and make the strategies proactive instead of reactive.https://www.inderscienceonline.com/loi/ijhvs?expanded=252019-03-01hj2018Materials Science and Metallurgical Engineerin

Advanced Sensing and Control for Connected and Automated Vehicles

Connected and automated vehicles (CAVs) are a transformative technology that is expected to change and improve the safety and efficiency of mobility. As the main functional components of CAVs, advanced sensing technologies and control algorithms, which gather environmental information, process data, and control vehicle motion, are of great importance. The development of novel sensing technologies for CAVs has become a hotspot in recent years. Thanks to improved sensing technologies, CAVs are able to interpret sensory information to further detect obstacles, localize their positions, navigate themselves, and interact with other surrounding vehicles in the dynamic environment. Furthermore, leveraging computer vision and other sensing methods, in-cabin humans’ body activities, facial emotions, and even mental states can also be recognized. Therefore, the aim of this Special Issue has been to gather contributions that illustrate the interest in the sensing and control of CAVs

Work Zone Safety Analysis, Investigating Benefits from Accelerated Bridge Construction (ABC) on Roadway Safety

The attributes of work zones have significant impacts on the risk of crash occurrence. Therefore, identifying the factors associated with crash severity and frequency in work zone locations is of important value to roadway safety. In addition, the significant loss of workers’ lives and injuries resulting from work zone crashes indicates the emergent need for a comprehensive and in-depth investigation of work zone crash mechanisms. The cost of work zone crashes is another issue that should be taken into account as work zone crashes impose millions of dollars on society each year. Applying innovative construction methods like Accelerated Bridge Construction (ABC) dramatically decreases on-site construction duration and thus improves roadway safety. This safe and cost-effective procedure for building new bridges or replacing/rehabilitating existing bridges in just a few weeks instead of months or years may prevent crashes and avoid injuries as a result of work zone presence. The application of machine learning techniques in traffic safety studies has seen explosive growth in recent years. Compared to statistical methods, MLs are more accurate prediction models due to their ability to deal with more complex functions. To this end, this study focuses on three major areas: crash severity at construction work zones with worker presence, crash frequency at bridge locations, and assessment of the associated costs to calculate the contribution of safety to the benefit-cost ratio of ABC as compared to conventional methods. Some key findings of this study can be highlighted as in-depth investigation of contributing factors in conjunction with the results from statistical and machine learning models, which can provide a more comprehensive interpretation of crash severity/frequency outcomes. The demonstration of work zone crashes needs to be modeled separately by time of day for severity analysis with a high level of confidence. Investigation of the contributing factors revealed the nonlinear relationship between crash severity/frequency and contributing factors. Finally, the results showed that the safety benefits from a case study in Florida consisted of 43% of the total ABC implementation cost. This indicates that the safety benefits of ABC implementation consist of a considerable portion of its benefit-cost ratio

ANALYSIS OF LARGE-SCALE TRAFFIC INCIDENTS AND EN ROUTE DIVERSIONS DUE TO CONGESTION ON FREEWAYS

En route traffic diversions have been identified as one of the effective traffic operations strategies in traffic incident management. The employment of such traffic operations will help relieve the congestion, save travel time, as well as reduce energy use and tailpipe emissions. However, little attention has been paid to quantifying the benefits by deploying such traffic operations under large-scale traffic incident-induced congestion on freeways, specifically under the connected vehicle environment. New Connected and Automated Vehicle technology, known as “CAV”, has the potential to further increase the benefits by deploying en route traffic diversions. This dissertation research is intended to study the benefits of en route traffic diversion by analyzing large-scale incident-related characteristics, as well as optimizing the signal plans under the diversion framework. The dissertation contributes to the art of traffic incident management by 1) understanding the characteristics of large-scale traffic incidents, and 2) developing a framework under the CAV to study the benefits of en route diversions.Towards the end, 4 studies are linked together for the dissertation. The first study will be focusing on the analysis of the large-scale traffic incidents by using the traffic incident data collected on East Tennessee major roadways. Specifically, incident classification, incident duration prediction, as well as sequential real-time prediction are studied in detail. The second study mainly focuses on truck-involved crashes. By incorporating injury severity information into the incident duration analysis, the second study developed a bivariate analysis framework using a unique dataset created by matching an incident database and a crash database. Then, the third study estimates and evaluates the benefit of deploying the en route traffic diversion strategy under the large-scale traffic incident-induced congestion on freeways by using simulation models and incorporating the analysis outcomes from the other two studies. The last study optimizes the signal timing plans for two intersections, which generates some implications along the arterial corridor under connected vehicles environment to gain more benefits in terms of travel timing savings for the studies network in Knoxville, Tennessee. The implications of the findings (e.g. faster response of agencies to the large-scale incidents reduces the incident duration, penetration of CAVs in the traffic diversion operations further reduces traffic network system delay), as well as the potential applications, will be discussed in this dissertation study

State and Parameter Estimation of Vehicle-Trailer Systems

Vehicle-trailer systems have different unstable modes that should be considered in their stability control, including trailer snaking, jack-knifing, and roll-over. In general, vehicle control systems require vehicle parameters and states, including geometric parameters, mass, tire forces, and side slip angles which some are not constant or can be measured economically. In a vehicle-trailer system, the trailer states and parameters such as articulation angle, trailer geometric parameters, trailer mass, trailer tire forces, and yaw rate need to be measured or identified/estimated, in addition to the unknown vehicle states/parameters. The trailer states and parameters can be measured by sensors such as Inertial Measurement Unit (IMU), wheel torque sensors, and force measurement units. However, most of these sensors are not commercially viable to be used in a vehicle or trailer due to significant extra costs. Estimation algorithms are the other tools to identify the parameters and states of the system without imposing extra costs. Accurate state and parameter estimators are needed for the development and implementation of a stability control system for a vehicle-trailer system. The main purpose of this research is to design real-time state and parameter estimation algorithms for vehicle-trailer systems. Correspondingly, a comprehensive overview of different model-based and non-model-based techniques/algorithms used for estimating vehicle-trailer states and parameters are provided. The vehicle-trailer system equations of motion are then presented and based on the presented vehicle-trailer model, the possibility of the trailer states and parameters estimation are investigated for different possible vehicle-trailer on-board sensor settings. Two different methods are proposed to estimate trailer mass for arbitrary vehicle-trailer configurations: model-based and Machine Learning (ML). The stability of the model-based estimation algorithm is analyzed, establishing the convergence of the estimation error to zero. In the proposed ML-based approach, a deep neural network is designed to estimate trailer mass. The inputs of the ML-based method are selected based on the vehicle-trailer model and are normalized by the vehicle mass, tire sizes, and geometry so that retraining of the network is not needed for different towing vehicles. The simulation and experimental results demonstrate that the trailer mass can be estimated with with acceptable computational costs. In this thesis, ultrasonic sensors along with kinematics and dynamics equations of a towing vehicle are used to develop three approaches for hitch angle estimation. The first approach is based on direct calculation of hitch angle using certain a priori geometric information and distance measurements of four Ultra sonic sensors. As the second and third approaches, kinematic and dynamic models of the vehicle-trailer system are used to develop least-square and Kalman filter based recursive hitch angle estimations. A more reliable hitch angle estimation scheme is then proposed as the integration of the algorithms developed following each of the three approaches via a switching data fusion logic. It is shown that the proposed integrated hitch angle estimation scheme can be used for any ball type trailer with a flat or symmetric V-nose frontal face without any priori information on the trailer parameters. Additionally, a new approach in estimating the lateral tire forces and hitch-forces of a vehicle-trailer system is introduced. It is shown that the proposed hitch-force estimation is independent of trailer mass and geometry. The designed lateral tire forces and hitch-force estimation algorithms can be used for any ball type trailer without any priori information on the trailer parameters. A vehicle-trailer model is proposed to design an observer for the estimation of the hitch-forces and lateral tire forces. Simulations studies in CarSim along with experimental tests are used to validate the presented method to confirm the accuracy of the developed observer. Moreover, using the vehicle-trailer lateral dynamics along with the LuGre tire model, an estimation system for the lateral velocity of a vehicle-trailer is proposed. It is shown that the proposed estimation is robust to the road conditions. An affine quadratic stability approach is used to analyze the stability of the proposed estimation. The test results confirm the accuracy of the developed estimation and convergence of the vehicle-trailer lateral velocity estimation to the actual value. Model-based and ML-based estimators are developed for estimating road angles for arbitrary vehicle-trailer configurations. The estimators are shown to be independent from road friction conditions. The model-based method employs unknown input observers on the vehicle-trailer roll and pitch dynamic models. In the proposed ML-based estimator, a recurrent neural network with Long-short-term-memory gates is designed to estimate the road angles. The inputs to the ML-based method are normalized by the vehicle wheel-base, mass, and CG height to make it applicable to any towing vehicle with the need of retraining. The simulation and experimental results justify the convergence of the road angle estimation error