Worst-case manoeuvres for the roll-over and jackknife of articulated vehicles

The worst-case steering and braking manoeuvres for the roll-over and jackknife of a tractor/trailer vehicle are reported in this paper. The generation of worst-case manoeuvres is formulated as a one-player worst-case evaluation problem. Linear solutions are first solved by using classical optimal control theories. Nonlinear solutions are then obtained numerically. Sensitivity analysis based on the worst-case evaluation method is also performed to identify important variables for vehicle rollovers.