###### Abstract  
Truck skidding crashes on horizontal curves pose a significant road safety concern, with improper braking being the primary cause. A data- and model-integrated driven method is proposed to investigate the mechanism and recommend the maximum safe braking deceleration rates without skidding (abbreviated as MSBDRs) for trucks on horizontal curves. Firstly, a comprehensive road-vehicle interaction model was developed, considering dynamic changes in brake force distribution, vertical tire load, and longitudinal and side friction during braking. Secondly, leveraging the \"HighD\" data set and employing cluster analysis principles, parameter data were extracted using Python and Matlab. Finally, through parameterizing model inputs, the transient dynamic response of trucks was examined, the potential of truck skidding was predicted, and the MSBDRs were recommended. The results indicate the following. (1) There is little concern of truck skidding during car-following braking maneuvers; however, there is a high potential of truck skidding during emergency braking maneuvers. (2) The MSBDR is 4.5 m/s\({}^{2}\) on a limit-minimum-radius horizontal curve; however, when combined with steep slopes, an overspeed exceeding 20%, and extremely wet road conditions, respectively, the MSBDRs decrease to 4 m/s\({}^{2}\), 3 m/s\({}^{2}\), and 2 m/s\({}^{2}\). These results provide a theoretical foundation for braking strategies in autonomous vehicles. traffic safety; safe deceleration; truck skidding; horizontal curve; safety margin +
Footnote †: journal: Applied sciences  
in vehicles, as well as the examination of individual wheel skidding safety [19]. However, studies based on the bicycle model do not adequately consider the driver's braking behavior. Since the 1960s, advancements in electronic computers and numerical calculation methods have enabled more complex multibody dynamics modeling and analysis [20; 21]. Secondly, vehicle experts have developed safety devices such as the anti-lock brake system (ABS), which is designed to keep a vehicle steerable and stable during heavy braking moments by preventing wheel lock [22; 23]. In addition to theoretical modeling research, some researchers have investigated the impact of braking maneuvers on vehicle skidding by analyzing statistics related to natural driving behavior [12; 24; 25; 26; 27]. These studies have yielded valuable findings, particularly in relation to characteristic parameters such as driver reaction time and braking deceleration. However, data-driven methods suffer from a black box effect and fail to explain the underlying mechanisms of the effect of the braking maneuvers on vehicle skidding. The issue of driving safety introduced by braking maneuvers is not only a challenge for traditional human driving behavior researchers but also an important focus for researchers in the field of autonomous and assisted driving [28; 29; 30]. These researchers primarily focus on analyzing braking strength, time-to-collision (TTC), emergency response time, and other characteristics of braking behavior to develop various collision avoidance control algorithms. However, these algorithms mainly prioritize longitudinal safety and lack consideration for lateral safety on horizontal curves during braking. As a result, there is a concern that while braking effectively reduces rear-end collision crashes, it may simultaneously increase the risk of more severe skidding collision crashes. While significant efforts have been invested in transportation safety research, the issue of truck skidding collisions on horizontal curves remains inadequately addressed. This deficiency primarily stems from the absence of a comprehensive theoretical model that effectively accounts for the dynamic interaction between the road and the vehicle during pre-crash braking, along with the precise identification of critical model parameters. Consequently, accurately predicting the potential for truck skidding on horizontal curves during braking poses an ongoing challenge.