Truck Rollover crashes: How & why?

How do large semi-trucks lose control and how can these accidents be prevented? According to the Association for the Advancement of Automotive Medicine, "When a truck travels along a curved path, centrifugal force causes it to lean away from the direction of the curve. The result can be a “rollover” in which the truck overturns. Tractor-trailers are particularly vulnerable because of the trailer’s high center of gravity and frequently unstable loads."
Some more factors that could possibly contribute to these rollover accidents are, the driver's lack of staying awake, paying attention, steering, and distraction. Rollovers are the "deadliest crashes, occurring with particular frequency on freeway ramps and inclines and suggested the use of sensor activated warning signs that detect unsafe approaches."
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