Abstract: Focusing on the issue of realizing the traveling heavy vehicle non-tripped rollover warning, a 3-DOF rollover model and a Time-To-Rollover（TTR）-based rollover algorithm are established. On this basis, Kalman filter technique is introduced to the Time-To-Rollover（TTR） algorithm, to present a TTR rollover warning algorithm based on roll angle estimation, thereby realizing the precision prediction of dynamic rollover character. This paper validates the algorithm by using Matlab/Simulink and Trucksim co-simulation platform. The results show that the rollover warning algorithm based on roll angle estimation can successfully work and provide a new design thinking to the issue of heavy vehicle non-tripped rollover warning.

Key words: heavy vehicle, Kalman filter, roll angle estimation, time-to-rollover, rollover warning algorithm

摘要： 针对重型车辆在行驶过程中非绊倒型侧翻预警实现问题，建立了三自由度车辆侧翻模型并设计了以侧翻时间（TTR）为预警标准的算法。考虑到预警算法中动态门限值中某些参数难于直接测取的问题，将Kalman滤波技术融合于其中，提出了基于车身侧倾角估计的TTR侧翻预警算法，实现车辆动态侧翻特性的精确预测。而后利用Matlab/Simulink与Trucksim软件联合仿真对侧翻预警算法进行验证。结果表明，基于车身侧倾角估计的重型车辆侧翻预警算法能够顺利运行，为非绊倒型侧翻预警问题提供了一种新的设计思路。

关键词: 重型车辆, 卡尔曼滤波, 车身侧倾角估计, 侧翻时间, 侧翻预警算法