Abstract: This paper presents a control system based on rollover warning for Sport Utility Vehicles（SUVs）. The Lateral Load Transfer Ratio（LTR） is chosen as the dynamics performance to indicate the rollover stability of the vehicle, the Time to Rollover（TTR）warning algorithm is researched and the hardware systems about  the algorithm are realized. Then a differential braking will be used to prevent  the rollover. The hardware-in-the-loop real-time simulations are conducted on the vehicle simulator, the double lane change test and Fishhook maneuver scenarios are simulated to examine the control performance of  the dynamic rollover warning system. The simulation results demonstrate that the proposed system not only improves the yaw stability and rollover stability  but also  acts only in the moment of rollover danger, which saves the braking energy.

Key words: differential braking control, hardware-in-the-loop, time to rollover, real-time simulations

摘要： 针对运动型多功能汽车（SUV）设计一种基于动态侧翻预警的控制系统。以横向载荷转移率作为侧翻指标，研究TTR侧翻预警算法及硬件实现，并应用差动制动方法对车辆进行侧倾控制。在汽车模拟器上进行硬件在环实时仿真实验，选取双移线和Fishhook工况对SUV动态侧翻预警控制性能进行分析。仿真结果显示，基于预警的防侧翻控制系统不仅可以有效地提高车辆的横摆稳定性和侧倾稳定性，且只有在出现侧翻危险时才起动制动装置，节省了制动能量。

关键词: 差动制动控制, 硬件在环, 侧翻预警时间, 实时仿真