Driving situation analysis based on multi-model observer: application of risk accident of heavy vehicles

Vehicle stability analysis is often based on mechanical models, which can be very complex. Indeed, the complete modeling of heavy vehicle is very difficult to design and to use because of uncertainties on the model parameters. The multi-model approach (sequencing of situations of driving) can be an alternative to reduce the complexity of the vehicle models and at the same time to focus on the request dynamics. In this paper, a heavy vehicle stability analysis on a real route (ramp) for which we defined a whole driving situation is proposed. For each situation, one associates a model representative of the requested dynamics. Thereafter, the unknown dynamic state reconstructed at every moment by using the multi-observer, based on the multi-model and the driving situation. The observation approach used for the reconstruction of the vehicle dynamics is based on the sliding mode technique. The computed information enables the detection of the risky accident situation. Simulation of observation and rollover detection results are presented to show the effectiveness of the proposed method. (a) For the covering entry of this conference, please see ITRD abstract no. E219320.