Control of Vehicle Lateral Handling Stability Considering Time-Varying Full-State Constraints

Lateral handling stability control is crucial for ensuring vehicle driving safety. To address this issue, this paper proposes a lateral handling stability control method that considers time-varying full-state constraints. By constructing a time-varying symmetric Barrier Lyapunov Function (TS-BLF), this method imposes time-varying nonlinear constraints on both the sideslip angle and yaw rate, thereby ensuring full-state constrained stability control of vehicles under complex operating conditions. Additionally, a second-order command filtering technique with an error compensation mechanism is introduced to reduce the computational complexity of control laws while mitigating filter-induced errors that may degrade system performance. To validate the effectiveness and robustness of the proposed method, the vehicle’s dynamic response is analyzed under different speeds on both dry asphalt pavement and dry gravel surfaces. The simulation results demonstrate that the proposed method effectively suppresses understeer and oversteer, enhances the dynamic stability margin under extreme operating conditions, and improves vehicle adaptability in complex environments.