Vehicle stability criterion based on three-fold line method

Sa？etak Stable boundary is analysed and corresponding stability criterion is proposed based on sideslip angle speed- sideslip angle phase plane. First, we analyse the impact of adhesion coefficient, longitudinal speed and front wheel angle on phase plane stable boundary, then we simplify the hyperbolic boundary with polyline. Stability criterion is then built based on the distance between locus and stable boundary. The proposed stability criterion is integrated to vehicle stability control system, and simulations are run under Matlab/Simulink-Carsim co-simulation platform. The results show that stability criterion based on sideslip angle speed- sideslip angle phase plane can evaluate vehicle stability state; under SWD/SIS steering condition and DLC condition, stability control syste