J. Abele, C. Kerlen, S. Krueger, H. Baum, T. Geissler et al., INSA de Lyon, tous droits réservés Bibliographie [ABE 05 Exploratory Study on the potential socio-economic impact of the introduction on intelligent safety systems in road vehicles, these.pdf © [Y. Akhmetov], [2011], 2005.

Y. Akhmetov, D. Remond, L. Maiffredy, D. Loreto, M. Marquis-favre et al., Active global chassis control in urban heavy vehicles for safety, Proc. of FISI- TA'2010, pp.1-10

M. Alberding, J. Tjonnas, and T. Johansen, Nonlinear hierarchical control allocation for vehicle yaw stabilization and rollover prevention, Proc. European Control Conference, pp.1-6, 2009.

D. Axehill and J. Sjoberg, Adaptive cruise control for heavy vehicles : hybrid control and MPC, 2003.

. Ben and . Bendix, Service data. Bendix EC-60 ABS / ATC / ESP Controllers (Advanced Models

J. Bernard, J. Shannan, and M. Vanderploeg, Vehicle Rollover on Smooth Surfaces, SAE Technical Paper Series, pp.1-10, 1989.
DOI : 10.4271/891991

S. Boyd and L. Vandenberghe, Convex optimization, 2004.

. Dynamique-du-véhicule, Modélisation des systèmes complexes, Presses Polytechniques et Universitaires Romandes, 2006.

C. Calson and J. Gerdes, Optimal rollover prevention with steer by wire and differential braking, Proceedings of ASME International Mechanical Engineering Congress and Exposition, pp.1-10, 2003.

M. Canale, L. Fagiano, and M. Milanese, Set Membership approximation theory for fast implementation of Model Predictive Control laws, Automatica, vol.45, issue.1, pp.45-54, 2009.
DOI : 10.1016/j.automatica.2008.06.015

M. Canale, L. Fagiano, and V. Razza, Approximate NMPC for vehicle stability: Design, implementation and SIL testing, Control Engineering Practice, vol.18, issue.6, pp.630-639, 2010.
DOI : 10.1016/j.conengprac.2010.03.002

B. Chen and H. Peng, Rollover Warning for Articulated Heavy Vehicles Based on a Time-to-Rollover Metric, Proceedings of the 1999 ASME International Congress and Exposition, pp.1-8, 1999.
DOI : 10.1115/1.1988340

H. Chou and . D-'andr-`-eaandr, Global vehicle control using differential braking torques and active suspension forces, Vehicle System Dynamics, vol.43, issue.4, pp.261-284, 2005.
DOI : 10.1080/004231104123331327841

H. Dugoff, P. Fancher, and L. Segel, Tire performance characteristics affecting vehicle response to steering and braking control inputs, Highway Safety Research Institute, 1969.

D. Eisele and H. Peng, Vehicle dynamics control with rollover prevention for articulated heavy trucks, Proceedings of AVEC'2000, 5th International Symposium on Advanced Vehicle Control, 2000.

P. Février and G. T. Fandard, Thermal and mechanical tire force and moment modelling, Tire.Wheel.Tech, 2006.

P. Gaspar, Z. Szabo, and J. Bokor, The Design of an Integrated Control System in Heavy Vehicles Based on an LPV Method, Proceedings of the 44th IEEE Conference on Decision and Control, pp.6722-6727, 2005.
DOI : 10.1109/CDC.2005.1583242

P. Gaspar, I. Szaszi, and J. Bokor, Reconfigurable control structure to prevent the rollover of heavy vehicles, Control Engineering Practice, vol.13, issue.6, pp.699-711, 2005.
DOI : 10.1016/j.conengprac.2004.06.003

. Gil and T. Gillespie, Fundamentals of the vehicle dynamics, Society of Automotive Engineers, 1992.

T. Gordon, M. Howell, and F. Brandao, Integrated Control Methodologies for Road Vehicles Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.40, issue.1, pp.157-190, 2003.

J. He, D. Crolla, M. Levesley, and W. Manning, Coordination of active steering, driveline, and braking for integrated vehicle dynamics control, Proc. IMechE, Part D : J.Automobile Engineering, pp.1401-1421, 2006.
DOI : 10.1243/09544070JAUTO265

. Hor, S. Horiuchi, O. Kazuyuki, and S. Nohtomi, Improvement of vehicle handling by nonlinear integrated control of four wheel steering and four wheel torque, Society of Automotive Engineers of Japan, vol.20, pp.459-464, 1999.

T. Johansen, I. Petersen, J. Kalkkuhl, and J. Ludemann, Gain-scheduled wheel slip control in automotive brake systems, IEEE Transactions on Control Systems Technology, vol.11, issue.6, pp.799-811, 2003.
DOI : 10.1109/TCST.2003.815607

B. Johansson and M. Gafvert, Untripped SUV rollover detection and prevention, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), pp.5461-5466, 2004.
DOI : 10.1109/CDC.2004.1429677

URL : http://lup.lub.lu.se/student-papers/record/8847983/file/8859426.pdf

S. Kharrazi, M. Lidberg, P. Lingman, J. Svensson, and N. Dela, The effectiveness of rear axle steering on the yaw stability and responsiveness of a heavy truck, Vehicle System Dynamics, vol.9, issue.sup1, pp.1-365, 2008.
DOI : 10.1243/0954407021528968

S. Kharrazi and R. Thomson, Study of heavy truck accidents with focus on manoeuvres causing loss of control, International Journal of Vehicle Safety, vol.3, issue.1, pp.32-44, 2008.
DOI : 10.1504/IJVS.2008.020077

F. Kienhofer and D. Cebon, Improving ABS on heavy vehicles using slip control, Proc. of the 9th International Symposium on Heavy Vehicle Weights and Dimensions, pp.1-11, 2006.

A. Krauter and R. Wilson, Simulation of Tractor-Semitrailer Handling, SAE Technical Paper Series, pp.1-16, 1972.
DOI : 10.4271/720922

. Kwa, J. Kwak, B. Yao, and A. Bajaj, Analytical model development and model reduction for electromechanical brake system, Proc. of ASME IMECE2004, pp.1-10, 2004.

. Lai and L. Laine, Reconfigurable motion control systems for over-actuated road vehicles, Thèse de doctorat, 2007.

K. Langwieder, J. Gwehenberger, T. Hummel, and J. Bende, Benefit potential of ESP in real accident situations involving cars and trucks, Proc. of the 18th Int. Technical Conference on the Enhanced Safety of Vehicles, pp.1-9, 2003.

C. Mallikarjunarao and P. Fancher, Analysis of the directional response characteristics of double tankers. rapport, 1978.

A. J. Miege and D. Cebon, Optimal roll control of an articulated vehicle: theory and model validation, Vehicle System Dynamics, vol.43, issue.12, pp.867-884, 2005.
DOI : 10.1016/S0005-1098(99)00193-4

O. Mokhiamar and M. Abe, Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control, Journal of Dynamic Systems, Measurement, and Control, vol.126, issue.4, pp.753-763, 2004.
DOI : 10.1115/1.1850533

. La-sécuritéroutì-ere-en-france, Bilan de l'année 2007, 2008.

H. B. Pacejka and I. J. Besselink, Magic Formula Tyre Model with Transient Properties Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.27, issue.1, pp.234-249, 1997.

L. Palkovics and M. El-gindy, Design of an Active Unilateral Brake Control System for Five-Axle Tractor-Semitrailer Based on Sensitivity Analysis, Vehicle System Dynamics, vol.40, issue.10, pp.725-758, 1995.
DOI : 10.1109/9.151101

L. Palkovics, A. Semsey, and E. Gerum, Roll-Over Prevention System for Commercial Vehicles ? Additional Sensorless Function of the Electronic Brake System. Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.32, issue.4, pp.285-297, 1999.

L. Palkovics and A. Fries, Intelligent Electronic Systems in Commercial Vehicles for Enhanced Traffic Safety, Vehicle System Dynamics, vol.35, issue.4-5, pp.4-5, 2001.
DOI : 10.1076/vesd.35.4.227.2044

G. Palmieri, O. Barbarisi, S. Scala, and L. Glielmo, A preliminary study to itegrate LTV-MPC Lateral Vehicle Dynamics Control with a Slip Control, 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, pp.4625-4630, 2009.

D. Pomerleau, T. Jochem, C. Thorpe, P. Batavia, D. Pape et al., Run-off-road collision avoidance using IVHS countermeasures, 1999.

R. Ranganathan, S. Rakheija, and S. Sankar, Kineto-static roll plane analysis of articulated tank vehicles with arbitrary tank geometry, Int. J. of Vehicle Design, vol.10, pp.89-111, 1989.

R. Ranganathan, S. Rakheija, and S. Sankar, Steady Turning Stability of Partially Filled Tank Vehicles With Arbitrary Tank Geometry, Journal of Dynamic Systems, Measurement, and Control, vol.111, issue.3, pp.481-489, 1989.
DOI : 10.1115/1.3153078

S. Sankar and S. Surial, A sensitivity analysis approach for fast estimation of rollover stability of heavy articulated vehicles during steady state turning, Int. J. of Vehicle Design, vol.1, pp.282-303, 1994.

G. Schaefer, P. Corrignan, D. Lescail, and D. Lechner, Sécurité des poids-lourds avec ballotement de liquide, SIA ? Actes du Congr¨EsCongr¨ Congr¨Es de Dynamique du V ` Ehicule, pp.1-12, 2001.

X. Shen and F. Yu, Study on vehicle chassis control integration based on a main-loop-inner-loop design approach, Proc. IMechE, Part D : J.Automobile Engineering, pp.1491-1502, 2006.
DOI : 10.1243/09544070JAUTO244

E. J. Stone and D. Cebon, Control of semi-active anti-roll systems on heavy vehicles, Vehicle System Dynamics, vol.931970, issue.10, pp.1215-1243, 2010.
DOI : 10.1243/09544070JAUTO650

P. Sundstrom and K. Tagesson, On Real Time Adaptive and Dynamically Constrained Control Allocation for Stability Control of Heavy Vehicles, 2008.

H. Tanaka, H. Inoue, and H. Iwata, Development of a vehicle integrated control system, Proc. of FISITA, pp.63-72, 1992.

P. Tondel and T. Johansen, Lateral vehicle stabilization using constrained nonlinear control, Proc. European Control Conference, pp.1-6, 2003.

P. Tondel and T. Johansen, Control allocation for yaw stabilization in automotive vehicles using multiparametric nonlinear programming, Proceedings of the 2005, American Control Conference, 2005., pp.453-458, 2005.
DOI : 10.1109/ACC.2005.1469977

E. Velenis, P. Tsiotras, C. Canudas-de-wit, and M. Sorine, Dynamic tyre friction models for combined longitudinal and lateral vehicle motion . Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.43, issue.1, pp.3-29, 2005.

. Vin, R. Vincent, and A. Krauter, Tractor-semitrailer handling : a dynamic tractor suspension model, SAE Technical Paper, vol.730653, pp.1-16, 1973.

C. Canudas-de-wit, P. Tsiotras, E. Velenis, M. Basset, and G. Gissinger, Dynamic Friction Models for Road/Tire Longitudinal Interaction. Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.39, issue.3, pp.189-226, 2003.
URL : https://hal.archives-ouvertes.fr/hal-00734006

J. Yoon, D. Kim, and K. Yi, Design of a rollover index-based vehicle stability control scheme. Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.45, issue.5, pp.459-475, 2007.

H. Yoshida, S. Shinohara, and M. Nagai, Lane change steering manoeuvre using model predictive control theory, Vehicle System Dynamics, vol.73, issue.sup1, pp.669-681, 2008.
DOI : 10.1016/j.automatica.2003.11.005

H. Yu, L. Guvenc, and U. Ozguner, Heavy duty vehicle rollover detection and active roll control, Vehicle System Dynamics, vol.43, issue.6, pp.451-470, 2008.
DOI : 10.1115/1.1434982