Abstract: In order to study the stability and safety of multi-axle vehicles, a linear 2 degree of freedom vehicle model with full wheel steering was established, and the steering ratio coefficients of vehicle were calculated according to Ackerman principle. Lateral load transfer rate of vehicle was estimated based on the quasi static lateral inclination theory, the yaw angular velocity gain was solved with Laplasse transform, and a rollover forward feedforward early warning algorithm was proposed. Through the comparison of theoretical values and simulation values, it is found that the proposed algorithm can predict the vehicle's tilting state effectively, and the algorithm can also calculate limit speed and limit angle of vehicle steering. The research has important reference significance for vehicle tilting state estimate and rollover control early warning.