Rollover Prevention Control of Heavy Vehicles Based on Control Barrier Functions

Rollover prevention control for heavy vehicles with three degree of freedom has been firstly investigated within the framework of control barrier functions (CBF) in this paper. Through solving optimization of Quadratic Program (QP), unsafe controllers are minimally revised to construct rollover prevention controllers which are friendly implemented in real application without design from scratch. Under the rollover prevention controller obtained, lateral load transfer of heavy vehicles are constrained in some desired safe interval where rollover accidents can be successfully avoided. Numerical examples are also presented to illustrate the effectiveness of rollover prevention controllers proposed upon CBFs.