Abstract: In view of the problem that the high-speed driving vehicle is prone to rollover in sharp turning or obstacle avoidance maneuver, a rollover control strategy with the combination of differential braking and active anti-roll bar is put forward. For enhancing rollover control effect, on one hand, all-wheel differential braking is adopted to enhance the yaw stability of vehicle, prevent the vehicle from tripping rollover due to instability, and reduce the probability of vehicle rollover; on the other hand, taking into account the nonlinearity and time variability of vehicle under emergency conditions, an active anti-roll bar is applied and a second-order sliding mode super-twisting controller is designed to dynamically track the ideal roll angle of the vehicle for achieving accurate judgment of the inclination of vehicle rollover, preventing the mal-operation of driver and further enhancing the anti-rollover capability of vehicle. Finally, a hardware-in-loop test is conducted to validate the effectiveness of the combined control strategy with active anti-roll bar and differential braking.

Key words: rollover, active anti-roll bar, differential braking, super-twisting sliding mode control, hardware-in-loop test