The center of mass of commercial vehicles is high, and the load parameters are prone to nonlinear changes with different loading mass and uneven distribution during steering, resulting in the dynamic evolution of the critical stability boundary of vehicles, which brings challenges to the active anti-sideslip and rollover control of commercial vehicles. To solve these problems, a hierarchical control strategy for the cooperative stability of commercial vehicles based on four-wheel independent steering (4WIS) and differential braking (DB) under variable load (VLCSC) is proposed in this paper. In the upper layer, an observation method based on an improved cubature Kalman filter (ICKF) is proposed to achieve real-time and accurate observation of vehicle load parameters under critical instability conditions. At the lower level, considering the influence of load characteristic variations on vehicle stability margin, a yaw-roll coupling cooperative stability control method for commercial vehicles is proposed based on game control theory for multi-agent systems (GMASC) to ensure the vehicle’s active stability control ability. The results show that compared with the traditional linearized model predictive control (MPC), the proposed strategy can reduce the maximum deviation between the sideslip angle, the yaw rate, and the reference value by about 70% and control the lateral-load transfer ratio (LTR) within 80%, thus significantly improving the cooperative stability control capability.
WuXWangZChenS.Research on mathematical modeling of critical impact force and rollover velocity of coach tripped rollover based on numerical analysis method. Symmetry2024; 16(5): 543.
2.
RenQXuMYanX.An investigation of heterogeneous impact, temporal stability, and aggregate shift in factors affecting the driver injury severity in single-vehicle rollover crashes. Accid Anal Prev2024; 200: 107562.
3.
BoadaBBoadaMVargas-MelendezL, et al. A robust observer based on H∞ filtering with parameter uncertainties combined with Neural Networks for estimation of vehicle roll angle. Mech Syst Signal Process2018; 99: 611–623.
4.
JinZLiJWangH, et al. Rollover prevention and motion planning for an intelligent heavy truck. Chin J Mech Eng2021; 34: 87.
5.
JinZLiJHuangY, et al. Study on rollover index and stability for a triaxle bus. Chin J Mech Eng2019; 32: 64.
6.
ZhouCYuLLiY, et al. A layered roll stability control strategy for commercial vehicles based on adaptive model predictive control. Veh Syst Dyn2023; 61(12): 3067–3088.
7.
QianXWangCZhaoW.Rollover prevention and path following control of integrated steering and braking systems. Proc IMechE, Part D: J Automobile Engineering2020; 234(6): 1644–1659.
8.
JingCShuHSongY.Model predictive control for integrated lateral stability and rollover prevention based on a multi-actuator control system. Int J Control Autom Syst2023; 21: 1518–1537.
9.
LiangJLuYPiD, et al. A decentralized cooperative control framework for active steering and active suspension: multi-agent approach. IEEE Trans Transp Electrif2022; 8(1): 1414–1429.
10.
WangZDingXZhangL.Chassis coordinated control for full x-by-wire four-wheel-independent-drive electric vehicles. IEEE Trans Veh Technol2023; 72(4): 4394–4410.
11.
LiangJLuYYinG, et al. A distributed integrated control architecture of AFS and DYC based on MAS for distributed drive electric vehicles. IEEE Trans Veh Technol2021; 70(6): 5565–5577.
12.
HangPXiaXChenG, et al. Active safety control of automated electric vehicles at driving limits: a tube-based MPC approach. IEEE Trans Transp Electrif2022; 8(1): 1338–1349.
13.
CaiYLiYLianY.Cooperative control of coupled multi-agent system of autonomous vehicle chassis based on Co-DMPC. IEEE Trans Transp Electrif2025: 11(1): 1875–1890.
14.
ChenXWangMWangW.Unified chassis control of electric vehicles considering wheel vertical vibrations. Sensors2021; 21(11): 3931.
15.
HangPChenX.Towards autonomous driving: review and perspectives on configuration and control of four-wheel independent drive/steering electric vehicles. Actuators2021; 10(8): 184.
16.
LiHZhaoYLinF, et al. Integrated yaw and rollover control based on differential braking for off-road vehicles with mechanical elastic wheel. J Cent South Univ2019; 26: 2354–2367.
17.
SukumaranRGaurkarPSubramanianS.Integrated rollover prevention and antilock brake system for heavy commercial road vehicles. IEEE Access2023; 11: 124081–124097.
18.
LiQHeHChenX, et al. Learning-based vehicle state estimation using Gaussian process regression combined with extended Kalman filter. J Franklin Inst2024; 361(9): 106907.
ZhaYLiuXMaF, et al. Vehicle state estimation based on extended Kalman filter and radial basis function neural networks. Int J Distrib Sensor Netw2022; 18(6): 15501329221102730.
21.
QiuZGuoL.Improved cubature Kalman filter for spacecraft attitude estimation. IEEE Trans Instrum Meas2021; 70: 1–13.
22.
LiGLiuCWangE, et al. State of charge estimation for Lithium-Ion battery based on improved cubature Kalman filter algorithm. Automot Innov2021; 4: 189–200.
23.
QuXLiuTMuL, et al. Cooperative vehicle tracking in VANET using a distributed improved cubature Kalman filter. IEEE Signal Process Lett2025; 32: 1540–1544.
24.
ChenCZhangQLiaoW, et al. State of charge estimation for lithium-ion batteries using an adaptive cubature Kalman filter based on improved generalized minimum error entropy criterion. Green Energy Intell Transp2025; 2025: 100292.
25.
ChenCChenXHangP.Personalized longitudinal motion planning based on a combination of reinforcement learning and imitation learning. Green Energy Intell Transp2025; 2025: 100321.
26.
LiangJFengJLuY, et al. A direct yaw moment control framework through robust TS fuzzy approach considering vehicle stability margin. IEEE ASME Trans Mechatron2024; 29(1): 166–178.
27.
SongLLiJWeiZ, et al. Longitudinal and lateral control methods from single vehicle to autonomous platoon. Green Energy Intell Transp2023; 2(2): 100066.
28.
TangCKhajepourA.Wheel modules with distributed controllers: a multi-agent approach to vehicular control. IEEE Trans Veh Technol2020; 69(10): 10879–10888.
29.
LiYCaiYSunX, et al. Distributed cooperative control of autonomous vehicle chassis based on multiagent theory. IEEE Trans Transp Electrif2025; 11(2): 5324–5336.
30.
LiYCaiYSunX, et al. Distributed modeling and scenario-driven extension hybrid-DMPC coordinated control of autonomous vehicle chassis. IEEE Trans Intell Transp Syst2025; 26(5): 7186–7196.
31.
TianYYaoQWangC, et al. Switched model predictive controller for path tracking of autonomous vehicle considering rollover stability. Veh Syst Dyn2022; 60(12): 4166–4185.
32.
TermousHShraimHTaljR, et al. Coordinated control strategies for active steering, differential braking and active suspension for vehicle stability, handling and safety improvement. Veh Syst Dyn2019; 57(10): 1494–1529.
33.
BotesWBothaTElsP.Real-time lateral stability and steering characteristic control using nonlinear model predictive control. Veh Syst Dyn2023; 61(4): 1063–1085.
34.
ZhangABaoSGaoF, et al. A novel strong tracking cubature Kalman filter and its application in maneuvering target tracking. Chin J Aeronaut2019; 32(11): 2489–2502.
35.
HassanMAAbdelkareemMAAMoheyeldeinMM, et al. Advanced study of tire characteristics and their influence on vehicle lateral stability and untripped rollover threshold. Alex Eng J2020; 59(3): 1613–1628.
36.
ZhaoWJiLWangC.H∞ control of integrated rollover prevention system based on improved lateral load transfer rate. Trans Inst Meas Control2018; 41(3): 859–874.
37.
ZhangBZhaoWLuanZ, et al. An antirollover control strategy based on time-varying nonlinear MPC for three-axle steering/braking-by-wire vehicle. IEEE Trans Ind Electron2024; 71(9): 11048–11060.
38.
JiangFDongMFanY, et al. Research on motor speed control method based on the prevention of vehicle rollover. Energies2022; 15(10): 3609.
39.
NiJHuJXiangC.Envelope control for four-wheel independently actuated autonomous ground vehicle through AFS/DYC integrated control. IEEE Trans Veh Technol2017; 66(11): 9712–9726.
40.
YoonJKimDYiK.Design of a rollover index-based vehicle stability control scheme. Veh Syst Dyn2007; 45(5): 459–475.
