Brake control combined with prediction to prevent the rollover of heavy vehicles

In this paper an active brake control to decrease the rolloverrisk of heavy vehicles is proposed. The brake system is activatedwhen the vehicle comes close to rolling over. To enhance theperformance of the active brake, this mechanism is extended with aprediction procedure, in which the critical values are predictedin advance using a short time interval. In order to predict animminent rollover, an observer-based prediction algorithm isproposed to estimate in advance the load transfers. The controldesign is based on the Linear Parameter Varying Model of yaw-rolldynamics of heavy vehicles. In the control design both theperformance demands and the model uncertainties are taken intoconsideration. The control mechanism is demonstrated in a doublelane change maneuver.