Lateral stability analysis of on-road vehicles using Lyapunov's direct method

Vehicle rollover may occur due to the yaw instability. Hence, the yaw stability analysis can help improve vehicle safety. In this paper, Lyapunov's direct method is applied to the lateral stability analysis of the non-linear vehicle model driven in a straight-line with constant longitudinal velocity, where the non-linearity of the model comes from the non-linear expression of the lateral tire forces. Two new Lyapunov functions are proposed. These functions do not explicitly depend on vehicle parameters and estimate the larger stability regions as compared with previous works.