Advanced Curve Speed Planning with Sideslip and Rollover Prevention for Heavy Trucks

Curve Speed Warning (CSW) systems assist drivers in adjusting speeds before entering a curve to improve road safety. As an essential part of CSW, the safe speed model is key in determining the speed trajectory. Current safe speed models are mostly based on the theoretical line shape of the road, which leads to the neglect of the driving differences, and it is likely to result in unreasonable speed guidance. This paper proposes a more comprehensive method to provide a safe speed trajectory in advance and enhance safety for trucks with heavy loads when approaching curve-slope sections. First, a classification model applying a random forest algorithm is developed to output the critical safe speed in a specific scenario. Second, a variable speed limit algorithm for a given path is framed, minimizing fuel and travel time consumption, and then embedded with a variable speed limit determination process. Simulation experiments are implemented based on real-world paths to verify the proposed structure. The findings indicate that our model is capable of generating speed trajectories adaptively. Additionally, experiments underscore the significant influence that the weight of the load and its center of gravity (CG) exert on the stability assessment of trucks, as we conclude that the optimal loading strategy for trucks is to reach a full load and avoid the load's lateral offset.