Estimating Lateral Stability Region of a Nonlinear 2 Degree-of-Freedom Vehicle

This paper deals with estimating the lateral stability region of a nonlinear 2 DOF vehicle via Lyapunov Second Method and the non-Lyapunov methods of tangency points and trajectory reversal. The nonlinearity of the model is incorporated in an analytical expression for the lateral tire force. It is shown that the derived analytical expressions for equilibrium points defines the outer limits of the stability region.