Beyond ESP: How Four-Wheel Steering (4WS) Redefines High-Speed Vehicle Stability
Technical Summary What is the stability envelope ($S_c$) of a 4WS vehicle? The stability envelope$S_c$is a closed region in the Sideslip Angle ($\beta$) vs. Yaw Rate ($r$) plane. It is bounded by six limits: two yaw rate bounds ($L_1, L_2$) defined by peak road adhesion, and four sideslip angle bounds ($L_3, L_4, L_5, L_6$) calculated […]













