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Commercial vehicles generally drive at a higher speed on structured expressways, and their higher center of mass leads to a lower rollover threshold and a greater rollover risk while steering. Therefore, the design of a lateral trajectory-tracking control strategy for commercial vehicles should not only consider the accuracy of trajectory tracking but also consider roll stability. Based on this control objective, a fuzzy linear quadratic controller was designed in this study to ensure rolling stability in the path-tracking control process and improve the adaptability of the strategy to the driving scenario. Firstly, a steering and braking cooperative control model based on the four-degree-of-freedom model and the multi-point preview model was established. Then, a path tracking controller considering roll stability was designed based on the linear quadratic theory. On this basis, a fuzzy linear quadratic controller was designed to realize the online optimization of cost function weights. Finally, the effectiveness of the control strategy was verified using co-simulation and hardware-in-loop experiments. The results show that the designed controller can effectively adjust the weight of path-tracking and stability according to the vehicle’s state. This effectively improves the vehicle’s control distribution problem.