Table 4 Control effect comparison.

From: Braking failure anti-rollover control and hardware-in-the-loop verification of wire-controlled heavy vehicles

Vehicle response

LTR control stable value

RI2 control stable value

NLTR control stable value

NLTR control optimization rate (%)

Yaw rate (deg/s)

− 19.43

− 12.82

− 18.86

47.11

Slip angle (deg)

− 3.31

− 4.67

− 4.34

7.07

Lateral acceleration (g)

− 0.37

− 0.15

− 0.30

68.18

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