Lateral Stability Analysis of a 2 Degree-of-Freedom Vehicle Using a Time Lagged Lateral Tire Force Model

In this paper fundamental analytical results for automobile lateral stability are developed. Specifically, the linear two degree-of-freedom, fixed steering control, front wheel steer and four wheel steer automobiles with a time lagged lateral tire force model is employed in the analysis. The stability conditions are derived using Routh Hurwitz criterion and Lyapunov’s method. The results are mainly algebraic in nature and examples are given demonstrating potential problems of front wheel and four wheel steering vehicles due to the time lag in the tire’s lateral force.