We present a nonlinear analysis of vehicle motion using a hybrid physical/dynamic tire/road friction model. The advantage of the proposed LuGre dynamic tire/road friction model is the simple and attractive structural properties for real-time friction estimation and control. Moreover, the model provides a property of capturing coupling effects between the longitudinal and lateral friction forces. We take advantages of these properties and analyze the vehicle lateral motion stability. We have shown that the existence of longitudinal slip affects the lateral motion stability. The quantitative analysis and relationship are also demonstrated through numerical simulation examples.

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