Velocity-based energy stability margin for practical implementation in wheeled vehicles

Various static and dynamic stability criteria have been defined in many researches. To estimate these stability margins, many sensors are required. Therefore, implementation on a real vehicle is an important factor for stability margins. In this paper, a modified dynamic energy stability margin measured with only a few sensors is suggested to facilitate implementation. The performance of the modified stability margin is demonstrated through dynamic simulations. The experiment results and an implementation of the stability margin estimation system on a real vehicle are presented.