# A Review of Recent Advances in Roll Stability Control in On-Road and Off-Road Vehicles
## 1 Introduction
A topology-based coordination control strategy was proposed, and Trucksim/Simulink joint simulations demonstrated that the strategy optimized the path tracking error, yaw rate, and lateral offset angle by 45%, 32.5%, and 20%, respectively, significantly improving path accuracy while ensuring driving safety. [PERSON] et al. [45] proposed a robust model predictive control method based on linear matrix inequalities for addressing the instability of electric mobile platforms in facility agriculture under rotary tiller lifting conditions. Experimental results showed that the controller reduced the average absolute errors in yaw rate and lateral offset angle by 46.4% and 38.2%, respectively, effectively improving the steering stability of the electric mobile platform in rotary tiller lifting conditions. Despite the significant progress made in roll stability control technologies for off-road vehicles, several challenges remain. Firstly, the diversity and uncertainty of unstructured terrain demand higher robustness from control algorithms [46]. Secondly, the high energy consumption characteristics of off-road vehicles make energy efficiency a key constraint for technology adoption. Lastly, cost-effectiveness and general applicability are crucial considerations for the commercialization of these technologies [47; 48; 49]. Given these challenges, there is an urgent need for a systematic review of the current theories and methods for roll stability control in off-road vehicles, in order to identify key challenges and provide theoretical support for the development of future technologies. Although numerous studies have summarized and analyzed roll stability control for road and off-road vehicles, the existing literature is mostly limited to a single vehicle category, lacking systematic comparative research. As a result, the commonalities and differences in the rollover stability mechanisms, key technologies, and control strategies between these two vehicle categories remain insufficiently explored. To fill this research gap, as shown in Figure 1, this paper provides a comprehensive review of the theoretical methods, key technologies, and experimental validation techniques for roll stability control in both road and off-road vehicles. It conducts an in-depth comparison of their technological developments and discusses future research directions. The structure of this paper is as follows: Section 2 discusses the research methodology. Section 3 introduces the theoretical foundations of roll stability control, including vehicle roll dynamic modeling, rollover prediction indicators, and the basic principles of roll stability control strategies. Section 4 reviews roll stability control technologies for road vehicles, covering roll state estimation, rollover warning, active roll stability control strategies, and related experimental validations. Section 5 summarizes roll stability control methods for off-road vehicles, addressing their unique roll characteristics, state monitoring techniques, rollover warning, active control technologies, and developments in experimental validation. Section 6 presents a comparative analysis of the roll stability control strategies for road and off-road vehicles, summarizing their commonalities and differences and discussing future development trends. Finally, Section 7 concludes the paper. Figure 1: Overview framework of roll stability control technology in road and off-road vehicles. (Images sourced from References [11; 17; 22; 24; 50; 51]).