A novel envelope stability control scheme based on phase plane with enhanced overshoot dynamics of vehicle

Phase plane is a visualized method to analyze the vehicle lateral behavior. The envelope control based on the sideslip angle and yaw rate phase plane can effectively restrict the vehicle states in the safe operation region for ensuring the stability of the vehicle. However, In most of such control schemes, many stable regions are not included in the envelope such that the dynamic performance of the vehicle is largely constrained. To solve this problem, this paper proposes a novel envelope control scheme based on saddle nodes position. It improves the overshoot dynamics by incorporating more stable regions in yaw rate direction and thus, improving the dynamic performance and steering agility. The simulation results indicate that compared to the previous envelope schemes, the proposed one can effectively improve the dynamic performance of the vehicle under the condition of ensuring stability.