Integrated Rollover Prevention and Antilock Brake System for Heavy Commercial Road Vehicles

This study introduces a novel approach for enhancing safety in Heavy Commercial Road Vehicles (HCRVs) by combining Rollover Prevention and Antilock Brake System. The primary focus is preventing rollovers through controlled differential braking while avoiding potential wheel lock. The study employs a 3-Degrees of Freedom (3)-DoF) model-based strategy for detecting impending rollovers based on the Load Transfer Ratio (LTR). When the rollover prevention algorithm identifies an impending rollover, it employs differential braking to maintain the LTR within predefined thresholds. When drivers intervene or override the rollover prevention algorithm, the ABS algorithm determines the desired brake chamber pressure to avoid the increased risk of wheel lock. The efficacy of the integrated algorithm was evaluated in a Hardware-in-Loop (HiL) setup using Fishhook, Sine with Dwell (SWD), and Ramp steer manoeuvres. The developed integrated algorithm successfully prevents rollovers by employing differential braking, even when the driver engages in panic braking while avoiding wheel lock.