Off-road vehicles need to adapt to harsh road environments and wild driving, so
their rollover stability is very important. It is of great significance to
predict and control the rollover stability of off-road vehicles based on the
vehicle's driving state. This paper adopts a prediction method for off-road
vehicle stability based on TTR (Time to Rollover), uses the LQR (Linear
Quadratic Regulator) multi-objective optimization control method to perform
anti-rollover control. Firstly, in view of the rollover risk of intelligent
off-road vehicles under extreme road conditions, a three-degree-of-freedom
rollover model of the vehicle is established, and a rollover failure index is
proposed. Then, based on the TTR, a rollover failure prediction algorithm is
developed. Next, the braking force through LQR controller is determined and the
differential braking method is adopted for vehicle anti-roll control. Finally, a
simulation platform is built based on CarSim and Simulink to simulate and verify
the control algorithm. The results indicate that the LQR control algorithm has
the least impact on vehicle speed. By comparison, LQR has the advantage of
multi-objective control, which can quickly approach a stable lateral velocity.
Furthermore, LQR's output is smoother and will dynamically adjust the output
value according to the magnitude of the steering angle change rate.