A comprehensive study on the stability analysis of vehicle dynamics with pure/combined-slip tyre models

ABSTRACT

In this paper, a vehicle's lateral dynamic model is developed based on the pure and the combined-slip LuGre tyre models. Conventional vehicle's lateral dynamic methods derive handling models utilising linear tyres and pure-slip assumptions. The current article proposes a general lateral dynamic model, which takes the linear and nonlinear behaviours of the tyre into account using the pure and combined-slip assumptions separately. The developed methodology also incorporates various normal loads at each corner and provides a proper tyre–vehicle platform for control and estimation applications. Steady-state and transient LuGre models are also used in the model development and their responses are compared in different driving scenarios. Considering the fact that the vehicle dynamics is time-varying, the stability of the suggested time-varying model is investigated using an affine quadratic stability approach, and a novel approach to define the critical longitudinal speed is suggested and compared with that of conventional lateral stability methods. Simulations have been conducted and the results are used to validate the proposed method.

KEYWORDS:

• Stability analysis
• steady-state behaviour
• Models < Tyre dynamics

Disclosure statement

No potential conflict of interest was reported by the authors.

Notes

1. From now on, since most of the matrices (state matrices or nonlinear parts) contain time varying parameters , the notations , or may be used for any matrix like interchangeably.