Enhanced Anti-Rollover Control for Commercial Vehicles Under Dynamic Lateral Interferences

Commercial vehicles frequently experience lateral interferences, such as crosswinds or side slopes, during extreme maneuvers like emergency steering and high-speed driving due to their high centroid. These interferences reduce vehicle stability and increase the risk of rollover. Therefore, this study takes a bus as the carrier and designs an anti-rollover control strategy based on mixed-sensitivity and robust H∞ controller. Specifically, a 7-DOF vehicle dynamics model is introduced, and the factors influencing vehicle rollover are analyzed. Based on this, to minimize excessive intervention in the vehicle’s dynamic characteristics, the lateral velocity, roll angle, and roll rate are recorded at the vehicle’s rollover threshold as desired values. The lateral load transfer rate (LTR) is chosen as the evaluation index, and the required additional yaw moment is determined and distributed to the wheels for anti-rollover control. Furthermore, to verify the effectiveness of the proposed anti-rollover control strategy, a co-simulation platform based on MATLAB/Simulink and TruckSim is developed. Various dynamic lateral interferences (side winds with different changing trends and wind speeds) are introduced, and the fishhook and J-turn maneuvers are selected to analyze and compare the proposed control strategy with a fuzzy logic algorithm. The results indicate that the maximum LTR of the vehicle is reduced by 0.11. Additionally, the lateral acceleration and yaw rate in the steady state are reduced by more than 1.8 m/s² and 15°, respectively, enhancing the vehicle’s lateral stability.