Tire capacity based vehicle stability evaluation framework for adaptive coordination of trajectory tracking and vehicle stability control

Within the integrated control framework of intelligent vehicles, quantitative evaluation of vehicle stability serves as a fundamental basis for enhancing the safety performance of autonomous driving. However, conventional stability indices, which rely on lateral dynamics states (e.g. sideslip angle and yaw rate), fail to reflect tire conditions, potentially leading to excessive tire slip even when the vehicle is judged stable at the system level. To overcome this limitation, a stability evaluation framework based on tire capacity is developed, in which tire capacity information is integrated to dynamically adjust the vehicle stability representation. A dynamic stability boundary that integrates tire capacity and tire slip angle is further established, enabling adaptive adjustment under different road conditions without requiring friction coefficient estimation. Based on this framework, an adaptive trajectory tracking and stability coordination controller is developed. CarSim–Simulink co-simulation results demonstrate that the proposed method maintains high trajectory tracking accuracy while achieving smoother control actions and improved vehicle stability. Moreover, the strategy effectively reduces the risk of tire saturation and keeps tire capacity within a safe region, thereby significantly enhancing vehicle controllability and driving safety.