Heavy Commercial Road Vehicles (HCRVs) accounted for 12.8% of the total accidents, out of which 38% were fatal. These statistics are of concern since HCRVs account for only 5.4% of the total registered road vehicles. A recent study on economic loss estimation of truck accidents in India revealed that the value of the national socio-economic cost of road accidents involving HCRVs is estimated to be in the range of USD 7.4 - 17.8 billion, accounting for 0.26 - 0.62% of India’s gross domestic product in the year 2019. HCRVs are more prone to rollover than other passenger vehicles since they have a higher Centre of Gravity (CoG) height. Therefore, rollover detection and prevention systems have become important for this class of vehicles which requires timely intervention with appropriate monitoring of the roll dynamics of the vehicle. This study introduces a novel approach for enhancing safety in HCRVs by combining Rollover Prevention and Antilock Brake System. The primary focus is preventing rollovers through controlled differential braking while avoiding potential wheel lock. The study employs a 3-degrees of freedom model-based strategy for detecting impending rollovers based on the load transfer ratio. When the rollover prevention algorithm identifies an impending rollover, it employs differential braking to maintain the LTR within predefined thresholds. When drivers intervene or override the rollover prevention algorithm, the ABS algorithm determines the desired brake chamber pressure to avoid the increased risk of wheel lock. The efficacy of the integrated algorithm was evaluated in a hardware-in-loop setup using Fishhook, Sine with Dwell, and Ramp steer manoeuvres. The developed integrated algorithm successfully prevents rollovers by employing differential braking, even when the driver engages in panic braking while avoiding wheel lock.