On the dynamic stability of off-road vehicles

Moshe P. Mann, Zvi Shiller

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


Dynamic stability reflects the vehicle’s ability to traverse uneven terrain at high speeds. It is determined from the set of admissible speeds and tangential accelerations of the center of mass along the path, subject to the ground force constraints and the geometric path constraints. This paper presents an analytical method for computing the stability margins of a planar all-wheel drive vehicle. It consists of mapping the ground force constraints to constraints on the vehicle’s speeds and accelerations along the path. The boundaries of the set of admissible speeds and accelerations determines the static and dynamic stability margins, used to gauge the traversability of the vehicle along the path. The first is the maximum feasible acceleration at zero speed, whereas the second is the maximum feasible speed. Both stability margins are demonstrated for a planar vehicle moving on a sinusoidal path.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Number of pages8
StatePublished - 1 Jan 2006
Externally publishedYes

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706


  • Dynamic Stability
  • Rough Terrain
  • Stability Margin
  • Tangential Acceleration
  • Zero Moment Point

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


Dive into the research topics of 'On the dynamic stability of off-road vehicles'. Together they form a unique fingerprint.

Cite this