Title: Estimation of the stability region of a vehicle in plane motion using a topological approach

Authors: Young Eun Ko, Jang Moo Lee

Addresses: Advanced Development Centre, Hyundai Motor Company, 772-1, Changduk-Dong, Whasung-Si, Kyunggi-Do, 445-850,Korea. School of Mechanical and Aerospace Engineering, Seoul National University, San 56-1, Shinlim-Dong, Kwanak-Gu, Seoul, 151-742, Korea

Abstract: A rigorous method is proposed to determine the stability region of a vehicle in-plane motion using a topological approach. An algorithm based on the trajectory reversing technique is used to materialise a topology theorem, which enables the exact stability region to be found. A stability criterion for the critical cornering is pr posed. The criterion can guarantee the minimum stability of a system as well as the elimination of spiral motion. For the numerical analysis, the non-linear vehicle model of a mid-size car with three degrees-of-freedom – longitudinal, lateral and yaw – is employed. Through several numerical examples, the following are figured out: (1) the variation of driving conditions such as vehicle speed, road friction, and steering input leads to a significant change of the stability region, and (2) the variation of the vehicle characteristics such as weight distribution and cornering stiffness of tire results in a slight change of the stability region.

Keywords: non-linear vehicle model; stability criterion; stability region; topology; trajectory reversing.

DOI: 10.1504/IJVD.2002.002032

International Journal of Vehicle Design, 2002 Vol.30 No.3, pp.181-192

Published online: 15 Aug 2003 *

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