Науковий вісник НГУ

Evaluation of vehicle stability parameters during wheel-obstacle impact scenarios

• 
• 

User Rating:  / 0

PoorBest 

Details

Category: Content №3 2025

Last Updated on 25 June 2025

Published on 30 November -0001

Hits: 4895

Authors:

R.Khoroshun, orcid.org/0000-0002-1862-7640, Ternopil Ivan Puluj National Technical University, Ternopil, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

B.Umarova*, orcid.org/0009-0007-7609-3548, Toraighyrov University, Pavlodar, the Republic of Kazakhstan, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

R.Rogatynskyi, orcid.org/0000-0001-8536-4599, Ternopil Ivan Puluj National Technical University, Ternopil, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

V.Sakhno, orcid.org/0000-0002-5144-7131, National Transport University, Kyiv, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

O.Lyashuk, orcid.org/0000-0003-4881-8568, Ternopil Ivan Puluj National Technical University, Ternopil, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

N.Sembayev, orcid.org/0000-0003-3032-1094, Toraighyrov University, Pavlodar, the Republic of Kazakhstan, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

* Corresponding author e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

повний текст / full article

Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu. 2025, (3): 119 - 130

https://doi.org/10.33271/nvngu/2025-3/119

Abstract:

Purpose. The study aims to establish the patterns of influence exerted by dynamic loads – arising from wheel-obstacle interactions – on a vehicle’s directional stability and handling performance.

Methodology. To investigate the redistribution of vehicle weight over the wheels during obstacle impact, and to assess the effects of wheel – obstacle collisions at high speeds, a simulation-based approach was employed. This method is grounded in solving the Hertz contact problem. The dynamics of a low-speed vehicle encountering an obstacle were analyzed through the solution of the differential equations of motion. Additionally, a full-factorial experimental design was implemented to identify the critical factors affecting safe vehicle operation.

Findings. The conducted study, which involved modeling obstacle impacts using inclined planes and cylindrical surfaces, revealed the redistribution of forces between two simultaneous contact zones – namely, between the wheel and both the road surface and the obstacle – as the low-speed vehicle progressed; it also clarified the variations in vehicle speed due to the longitudinal component of the obstacle reaction force, and assessed the impact interaction between the wheels and the obstacle and established the conditions under which wheel lift-off occurs, resulting in the loss of vehicle control. Experimental investigations were carried out using a specially developed test rig to analyze the dynamics of wheel rolling over a drive drum fitted with obstacles.

Originality. The findings enable identification of the transition phase when a wheel shifts from contact with the road surface to the obstacle, during which dual-zone reaction forces act on the wheel. The study also establishes the patterns of variation in these reactions, the influence of obstacle resistance on the dynamics of low-speed vehicles, and the conditions that lead to wheel lift-off during impact with an obstacle – especially relevant for high-speed vehicles.

Practical value. The results were experimentally validated using a custom-built test bench, which supports their practical application in determining optimal vehicle speed modes when traversing obstacles. These findings can also inform the design of artificial road irregularities (such as speed bumps) intended to enforce speed reduction in vehicles.

Keywords: wheel, dynamic loads, interaction, vehicle controllability, equation of motion

References.

1. Li, J., Luo, J., Feng, B., Zhang, L., & Gao, M. (2024). Vehicle stability control based on vehicle motion state and tire force estimation. Transactions of the Canadian Society for Mechanical Engineering. https://doi.org/10.1139/tcsme-2024-0070

2. Chen, T., Xu, X., Cai, Y., Chen, L., & Li, K. (2025). QPSOMPC-based chassis coordination control of 6WIDAGV for vehicle stability and trajectory tracking. Journal of the Franklin Institute, 362(2), 107458. https://doi.org/10.1016/j.jfranklin.2024.107458

3. Kashkanov, A., Kashkanova, A., Podrigalo, M., Klets, D., Saraiev, O., Mikhalevich, M., & Andrey, K. (2022). Estimation Parameters of Braking of Vehicles Category M1 at Definition of Circumstances Road Accidents. SAE Technical Paper Series. https://doi.org/10.4271/2022-01-1166

4. Taran, I. A., & Klimenko, I. Yu. (2014). Transfer ratio of double-split transmissions in case of planetary gear input. Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu, (6), 60-66.

5. Kou, L., Sysyn, M., Liu, J., Fischer, S., Nabochenko, O., & He, W. (2023). Prediction system of rolling contact fatigue on crossing nose based on support vector regression. Measurement, 210, 112579. https://doi.org/10.1016/j.measurement.2023.112579

6. Nagy, V., Kovács, G., Földesi, P., Kurhan, D., Sysyn, M., Szalai, S., & Fischer, S. (2023). Testing Road Vehicle User Interfaces Concerning the Driver’s Cognitive Load. Infrastructures, 8(3), 49. https://doi.org/10.3390/infrastructures8030049

7. Li, X., & Ren, M. (2025). Road adhesion coefficient Estimation: Physics-informed deep learning method with vehicle dynamics model. Expert Systems with Applications, 260, 125387. https://doi.org/10.1016/j.eswa.2024.125387

8. Wang, J., Zhang, X., Dong, Y., Liu, S., & Zhang, L. (2025). Roll stability control of in-wheel motors drive electric vehicle on potholed roads. Control Engineering Practice, 157, 106247. https://doi.org/10.1016/j.conengprac.2025.106247

9. Li, P., Wang, Y., Zhao, J., & Li, P. (2025). Adaptive event-triggered integrated control for autonomous vehicle steering and lateral stability with interval type-2 fuzzy method. Mechatronics, 106, 103290. https://doi.org/10.1016/j.mechatronics.2024.103290

10.      Volkov, V., Gritsuk, I., Volkova, T., Marmut, I., Saraieva, I., Volodarets, M., Chygyryk, N., & Bulgakov, M. (2020). Assessment of the Influence of Braking Devices over the Stability of Braking Properties of the Vehicles. SAE Technical Paper Series. https://doi.org/10.4271/2020-01-5163

11.      Wang, L., Liu, F., Song, Z., Ni, Y., He, Z., Zhai, Z., …, & Li, Z. (2024). Advances in tractor rollover and stability control: Implications for off-road driving safety. Computers and Electronics in Agriculture, 226, 109483. https://doi.org/10.1016/j.compag.2024.109483

12.      Naumov, V., Bekmagambetova, L., Bitileuova, Z., Zhanbirov, Z., & Taran, I. (2022). Mixed Fuzzy-Logic and Game-Theoretical Approach to Justify Vehicle Models for Servicing the Public Bus Line. Communications ‒ Scientific Letters of the University of Zilina, 24(1), A26-A34. https://doi.org/10.26552/com.c.2022.1.a26-a34

13.      Sokil, B., Lyashuk, O., Sokil, M., Vovk, Y., Lebid, I., Hevko, I., …, & Matviyishyn, A. (2022). Methodology of Force Parameters Justification of the Controlled Steering Wheel Suspension. Communications ‒ Scientific Letters of the University of Zilina, 24(3), B247-B258. https://doi.org/10.26552/com.c.2022.3.b247-b258

14.      Volkov, V., Gritsuk, I., Taran, I., Volkova, T., Kuzhel, V., Semenov, A., & Voznyak, O. (2024). Information Systems for Vehicles Technical Condition Monitoring. Data-Centric Business and Applications, 61-96. https://doi.org/10.1007/978-3-031-54012-7_4

15.      Sokil, B., Lyashuk, O., Sokil, M., Vovk, Y., Dzyura, V., Aulin, V., & Khoroshun, R. (2021). Interpreting the Main Power Characteristics Choice of the Wheel Vehicles Guided Cushioning System. Communications ‒ Scientific Letters of the University of Zilina, 23(2), B139-B149. https://doi.org/10.26552/com.c.2021.2.b139-b149

16.      Podrigalo, M., Dubinin, Y., Molodan, A., Polianskyi, O., Kholodov, M., Klets, D., …, & Stepanov, A. (2020). New Methods and Systems for Monitoring the Functional Stability Parameters of Wheel Machines Power Units. SAE Technical Paper Series. https://doi.org/10.4271/2020-01-2014

17.      Sert, E., & Boyraz, P. (2017). Optimization of suspension system and sensitivity analysis for improvement of stability in a midsize heavy vehicle. Engineering Science and Technology, an International Journal, 20(3), 997-1012. https://doi.org/10.1016/j.jestch.2017.03.007

18.      Taran, I. A. (2012). Laws of power transmission on branches of double-split hydrostatic mechanical transmissions. Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu, (2), 69-75.

19.      Li, J., Keshavarzi, A., Omran, A. H., Ahmad, N., Alkhafaji, M. A., Nasajpour-Esfahani, N., & Mousavian, S. H. B. (2024). Simulation the effect of capply layer length on the longitudinal stiffness and lateral stiffness of the tire and the stability of the car. Ain Shams Enginee­ring Journal, 15(2), 102354. https://doi.org/10.1016/j.asej.2023.102354

20.      Li, S., Wang, G., Zhang, B., Yu, Z., & Cui, G. (2020). Vehicle Yaw Stability Control at the Handling Limits Based on Model Predictive Control. International Journal of Automotive Technology, 21(2), 361-370. https://doi.org/10.1007/s12239-020-0034-7

21.      Villano, E., Lenzo, B., & Sakhnevych, A. (2021). Cross-combined UKF for vehicle sideslip angle estimation with a modified Dugoff tire model: design and experimental results. Meccanica, 56(11), 2653-2668. https://doi.org/10.1007/s11012-021-01403-6

22.      Prakash, R., & Dheer, D. K. (2024). Stability analysis of lateral dynamics of a vehicle model utilizing state feedback with integral control and bifurcation method. Journal of Computational Science, 80, 102321. https://doi.org/10.1016/j.jocs.2024.102321

23.      Sert, E., & Boyraz, P. (2016). Enhancement of Vehicle Handling Based on Rear Suspension Geometry Using Taguchi Method. SAE International Journal of Commercial Vehicles, 9(1), 1-13. https://doi.org/10.4271/2015-01-9020

24.      Bhardwaj, A., Slavin, D., Walsh, J., Freudenberg, J., & Gillespie, R. B. (2021). Estimation and decomposition of rack force for driving on uneven roads. Control Engineering Practice, 114, 104876. https://doi.org/10.1016/j.conengprac.2021.104876

• < Prev
• Next >