Estimating Lateral Stability Region for Four Wheel Independently - Actuated Electric Vehicle Considering Steering 2013-01-2373
The paper builds the non-linear vehicle dynamic model firstly, and the lateral stability region of the vehicle considering steering is estimated based on lyapunov function. Stable equilibrium points of non-straight driving are obtained and the lyapunov function matrix is reconstructed which prove that the closed-loop system composed of yaw rate and lateral velocity is satisfied with negative definite property. The simulation results show that the estimated system stability region is satisfied with handling stability on different roads, steering angle and longitudinal velocity.
Citation: Yin, G., "Estimating Lateral Stability Region for Four Wheel Independently - Actuated Electric Vehicle Considering Steering," SAE Technical Paper 2013-01-2373, 2013, https://doi.org/10.4271/2013-01-2373. Download Citation
Author(s):
Guo-Dong Yin
Affiliated:
Southeast University
Pages: 8
Event:
SAE 2013 Commercial Vehicle Engineering Congress
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Electric vehicles
Yaw
Roads and highways
Simulation and modeling
Wheels
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