Abstract: With the rapid development of the transportation industry, the rollover stability of commercial trucks is receiving increasing attention. This paper takes the yaw rate and lateral velocity variation of commercial trucks as control variables, combines the TTR rollover warning theory and the rollover vehicle model of commercial trucks to design the warning strategy, predicts the vehicle lateral acceleration through the Kalman filter estimator, and then calculates the rollover threshold value, and then obtains the optimal additional yaw moment through the linear quadratic regulator regulator according to the vehicle linear model. Using a single wheel control strategy, perform anti roll control on the established model. The reliability of the strategy is simulated and tested through extreme operating conditions to verify the effectiveness of the control strategy adopted in this paper.

Key words: Commercial trucks; Rollover warning; Stability control strategy; Single wheel braking

摘要： 随着交通运输行业的快速发展，商用货车的侧翻稳定性愈来愈受到关注。文章以商用 货车的横摆角速度、侧向速度变化为控制变量，结合关于侧翻预警时间（TTR）的侧翻预警 理论和商用货车侧翻车辆模型进行预警策略设计，并通过卡尔曼滤波估计器预测车辆侧向加 速度进而计算出侧翻门限值，之后根据整车线性模型通过二次线性调节器得到最优附加横摆 力矩。由单侧车轮控制策略对所建立的模型进行防侧翻控制；最后通过极端工况对策略的可 靠性进行了仿真测试，从而验证文章所采用控制策略的有效性。

关键词: 商用货车；侧翻预警；稳定性控制策略；单侧车轮制动