Risk-managed safety screening via stability-constrained reachability tubes for vehicle handling

Abstract Near-limit emergency maneuvers are dominated by nonlinear tire saturation and stability constraints, calling for a short-horizon handling envelope that can be queried online. We formulate a stability-constrained finite-time reachability tube for a planar single-track vehicle with Magic-Form...

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Autors principals:	Jinzhe Yang, Jianzheng Liu, Kai Tian, Yier Lin, Junxia Zhang
Format:	Artigo
Idioma:	Inglês
Publicat:	Nature Portfolio 2026-05-01
Col·lecció:	Scientific Reports
Matèries:	Finite-time reachability Stability-constrained reachability tubes Vehicle handling envelope Risk-managed safety screening Nonconvex set reconstruction Online feasibility assessment
Accés en línia:	https://doi.org/10.1038/s41598-026-51896-y
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