A rollover prevention system for a vehicle includes an antilock braking system and a plurality of wheel-end modulator valves associated with respective wheels. The antilock braking system includes an electronic control unit and a lateral acceleration estimator for determining a lateral acceleration of the vehicle. The wheel-end modulator valves cause respective braking pressures to be applied at the respective wheels as a function of the lateral acceleration of the vehicle and a level of frictional contact between the wheels and a driving surface.