In this paper, a novel rollover prevention control algorithm is developed for application on vehicles with a high centre of gravity. The developed algorithm can be implemented on any vehicle equipped with an electronic stability program with or without an extra roll rate sensor. The vehicle rollover index is defined from the vehicle lateral kinetic energy and the new concept of virtual gravity. The algorithm is implemented on a production hydraulic control unit and tested using a typical medium size sport utility vehicle up to a speed of 110kmh(-1). The test results show that the control algorithm prevents the vehicle rollover very successfully without any noticeable false activation or over correction resulting in severe under steer. Also, the controlled wheel speed shows a very stable and smooth trace.