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For the rollover stability of heavy tractor semitrailer, six-axle vehicle model was set up. The nonlinear tire model was used in the real model simultaneously to describe the nonlinear characters of vehicle. The commercial software TruckSim was employed to testify the model. Multi-objective stability control strategy based on tractor yaw rate, lateral acceleration and articulated angle of vehicle was suggested by using LQR optimal control technique. It was also confirmed in the integrated co-simulation of TruckSim and Matlab/Simulink. The simulation results showed that the multi-objective stability control strategy over heavy tractor semi-trailer could effectively improve the stability of vehicle and avoid the occurrence of dangerous accidents.