Estimating lateral stability region for lightweight electric vehicles considering steering

It is important for the four wheel independently-actuated electric light-weight vehicle to improve its lateral handling stability. The non-linear vehicle dynamic model is built, 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 and vehicle parameters.