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Due to the high centre of mass, commercial vehicles are prone to ultimate rollover under extreme steering conditions. The rollover of commercial vehicles leads to serious traffic accidents and poses a threat to road traffic. In this paper, the mechanism of vehicle rollover is revealed by static equilibrium and phase plane analysis. Meanwhile, a robust roll angle observer is designed by combining Kalman filter and sliding mode observation. Considering the influence of wheel lifting on roll dynamics, a novel layered control strategy is proposed by employing engine torque limit, differential braking and active front-wheel steering. Moreover, the layered control of roll stability is realised by adaptive model predictive control with time-varying weights and constraints. To verify the validity and reliability of the proposed algorithm, the hardware-in-loop tests under typical driving conditions have been carried out. The results show that the proposed method can effectively restrain the divergence of roll state and prevent vehicle rollover.

A layered roll stability control strategy for commercial vehicles based on adaptive model predictive control