Insightful Representations of Roll Plane Model Stability Limits
Yaw and roll stability limits are derived for three quasi-static roll plane models: rigid vehicle, suspended vehicle, and compliant tire vehicle. A generalized stability equation is identified that fits the stability limits for each model. This generalized stability equation leads to the definition of two new parameters referred to as the generalized superelevation and generalized center of gravity height. These parameters are shown to be physically meaningful. The use of linearizing assumptions is minimized and road superelevation is included, resulting in a more complete equation for each stability limit. Each derived stability limit is then compared and contrasted to the typical representations found in the literature.