A Novel Rollover Warning Approach for Commercial Vehicles Using Unscented Kalman Filter

Table 1

Semitrailer vehicle parameters used in simulation.

Parameter	Value/unite
Tractor sprung mass (ms), trailer unsprung mass (mu), tractor roll moment of sprung mass(I1xx), trailer roll moment of sprung mass(I2xx), tractor CG height (h1), trailer CG height (h2), tractor wheelbase (ls1), trailer wheelbase (ls3), and suspension damper (bs)	4455 kg, 6000 kg, 2283.9 kg^∗m^2, 10140 kg^∗m^2, 1.175 m, 1.935 m, 2.03 m, 1.863 m, and 1000N^∗s/m