Unal, KenanGuvenc, Levent2024-05-252024-05-252014111744-232X1741-515210.1504/IJHVS.2014.0616332-s2.0-84901951415https://doi.org/10.1504/IJHVS.2014.061633https://hdl.handle.net/20.500.14517/727Developing anti-rollover warning systems and rollover avoidance controllers for heavy commercial vehicles continues to be a focus of research attention as a large number of fatal accidents occur due to the rollover of trucks. The dynamic rollover propensity metric known as TTR, namely the Time-To-Rollover, which estimates the time it will take until rollover if the steering is kept at the current level is used here as part of a real-time, hardwarein- the-loop rollover warning indicator system. A real-time capable and realistic fifth order linear dynamic vehicle model available in the literature and consisting of a combination of roll and yaw dynamics with velocity and steering level scheduled varying parameters is used here. The main contribution of this paper is a hardware-in-the-loop simulator for real-time TTR computation. The warning system developed in the hardware-in-the-loop simulator can then be implemented and tested in a real truck.eninfo:eu-repo/semantics/closedAccessrollover warninghardware-in-the-loop simulationheavy commercial vehicle modelvehicle model validationactive safety systemsArticleQ4Q3212105122WOS:000337172200002