Abstract
In order to prevent the maneuver-induced rollover of a 3-axle straight truck, a rollover prevention system based on independent brake force control is proposed. The differential braking is calculated by solving a robust stabilization problem in consideration of the variation of vehicle speed and tire cornering stiffness. The criterion of rollover risk is also analyzed, and a logic combination of lateral acceleration and roll motion is used to judge rollover risk. Finally the proposed rollover prevention system is tested on a truck simulation model constructed by TruckSim. Simulation results of J-turn maneuver and lane change maneuver show that the proposed system can prevent rollover effectively.
