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The paper builds the non-linear vehicle dynamic model firstly, 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, steering angle and longitudinal velocity.

Knowledge of vehicle dynamics variables is very important for vehicle control systems that aim to improve handling characteristics and passenger safety. However for both technical and economical reasons some fundamental data (e.g., Lateral tire-road forces and vehicle sideslip angle) are difficult to measure in a standard car. This paper proposes a novel Interacting Multiple Model Filter-Based method to estimate lateral tire-road forces by utilizing real-time measurements. The estimation method of lateral tire-road forces is based on an interacting multiple model (IMM) filter that integrates in-vehicle sensors of in-wheel-motor-driven electric vehicles to adaptively adjusted multiple vehicle-road system models to match variable driving conditions. A four-wheel nonlinear vehicle dynamics model (NVDM) is built considering extended roll dynamics and load transfer.