Method and device for determining vehicle handling stability area, medium and equipment

Abstract

The invention belongs to the technical field of automobile control, and provides a method and device for determining a vehicle handling stability area, a medium and equipment, and the method comprises the steps that under different vehicle speeds, vehicle body states at a plurality of continuous moments are obtained; for each vehicle body state, obtaining a side slip angle, a yaw velocity and a state matrix through a nonlinear vehicle model and transformation, calculating a Lyapunov index based on the definition of the Lyapunov index, and judging whether the vehicle is in a stable state, an unstable state or a periodic motion based on the Lyapunov index; for each vehicle speed, the side slip angle and the yaw velocity of the vehicle in periodic motion are extracted, an analytic curved surface expression of a stability envelope space is obtained through a radial basis function curved surface interpolation method, a quantitative calculation result can be provided, and the method is easy to popularize and use to a multi-degree-of-freedom vehicle model.

Description

Technical Field

[0001] The present invention belongs to the field of automobile control technology, and in particular relates to a method, device, medium and equipment for determining a vehicle handling stability zone. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The quality of a car's handling stability is essentially determined by the dynamic characteristics of the car system. When a car is driving on a road with good adhesion conditions, even at a high speed, the car system will have a large stable area, strong ability to resist interference, good driving stability, and good controllability. The driver can safely and smoothly control the car to maintain stable driving, and can effectively deal with some sudden emergencies; when the car is driving on a slippery road, if the speed is high, the stable area of ​​the car system will become very small, the ability to resist interference will become weaker, the driving stability will become worse, and the controllability will become worse. A slight lateral interference or a slightly larger front wheel turning angle will cause the car to enter an unstable state. Therefore, it is crucial to study the ability of the car to resist external interference and maintain stable driving, and to give a quantitative description of the car's handling stability.

[0004] Most of the current methods for solving the vehicle stability zone have large numerical calculation amount and cannot be extended to high-degree-of-freedom models, and the accurate range of the stability zone cannot be guaranteed.

[0005] At present, the research on handling stability based on nonlinear automobile models is mostly based on low degrees of freedom (two and three degrees of freedom), mainly focusing on the analysis of the equilibrium point bifurcation characteristics of the automobile system and the solution of the stable area. Classical analysis methods such as the phase plane method and the Lyapunov function method mostly obtain qualitative conclusions and lack clear quantitative calculation indicators.

[0006] The traditional phase plane analysis method qualitatively gives a simple judgment model of the stable region by observing the evolution of the phase trajectory, but lacks clear quantitative calculation indicators. It requires solving the nonlinear system equations, and then subjectively generating the polygonal region based on the phase plane diagram composed of the phase trajectory. This method is highly subjective, and the obtained stability region is not a truly stable region.

[0007] Although the Lyapunov function method does not require solving system equations, it provides convenience for numerical calculations. However, the Lyapunov function analysis method requires the construction of the form of the Lyapunov function. For complex and strongly nonlinear systems, in order to construct the form of the Lyapunov function, it is usually necessary to simplify the model to a certain extent. At present, there is no general method for constructing the Lyapunov function. At the same time, the solution of the stable region will also be limited by the function expression. Therefore, it is difficult to obtain the accurate range of the stable region, and it is also difficult to promote it to high-degree-of-freedom systems. Summary of the invention

[0008] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a method, device, medium and equipment for determining the vehicle handling stability area, uses the Lyapunov index method to comprehensively analyze the dynamic stability of the automobile system, and establishes an analytical model of the automobile stability envelope surface based on the stability analysis results, which can provide quantitative calculation results and is easy to promote and use in multi-degree-of-freedom automobile models.

[0009] In order to achieve the above object, the present invention adopts the following technical solution:

[0010] A first aspect of the present invention provides a method for determining a vehicle handling stability region.

[0011] A method for determining a vehicle handling stability region, comprising:

[0012] Obtain the vehicle body status at several consecutive moments at different vehicle speeds;

[0013] For each vehicle body state, after obtaining the center of mass sideslip angle, yaw rate and state matrix through nonlinear vehicle model and transformation, the Lyapunov index is calculated based on the definition of the Lyapunov index, and the vehicle is judged to be in a stable state, unstable state or periodic motion based on the Lyapunov index;

[0014] For each vehicle speed, the sideslip angle and yaw rate of the vehicle's center of mass when it is in periodic motion are extracted, and the analytical surface expression of the stability envelope space is obtained through the radial basis function surface interpolation method.

[0015] Furthermore, the vehicle body state includes: vehicle lateral speed, front wheel turning angle, vehicle mass, distance from center of mass to front axle, distance from center of mass to rear axle and vehicle moment of inertia around z-axis.

[0016] Furthermore, during the calculation of the Lyapunov exponent, the state matrix of the vehicle is integrated to obtain a set of vectors, and the vectors are orthogonalized into a set of principal axes using the Schmidt orthogonal method.

[0017] Furthermore, when the Lyapunov index is greater than 0, it indicates that the vehicle is in an unstable state; when the Lyapunov index is equal to 0, it indicates that the vehicle is in periodic motion; and when the Lyapunov index is less than 0, it indicates that the vehicle is in a stable state.

[0018] A second aspect of the present invention provides an apparatus for determining a vehicle handling stability region.

[0019] A device for determining a vehicle handling stability region, comprising:

[0020] A data acquisition module is configured to: acquire vehicle body states at a plurality of consecutive moments at different vehicle speeds;

[0021] A stability judgment module is configured to: for each vehicle body state, after obtaining the center of mass sideslip angle, yaw rate and state matrix through a nonlinear vehicle model and transformation, calculate the Lyapunov index based on the definition of the Lyapunov index, and judge whether the vehicle is in a stable state, an unstable state or a periodic motion based on the Lyapunov index;

[0022] The area determination module is configured to: for each vehicle speed, extract the center of mass sideslip angle and yaw rate when the vehicle is in periodic motion, and obtain the analytical surface expression of the stability envelope space by radial basis function surface interpolation method.

[0023] Furthermore, the vehicle body state includes: vehicle lateral speed, front wheel turning angle, vehicle mass, distance from center of mass to front axle, distance from center of mass to rear axle and vehicle moment of inertia around z-axis.

[0024] Furthermore, during the calculation of the Lyapunov exponent, the state matrix of the vehicle is integrated to obtain a set of vectors, and the vectors are orthogonalized into a set of principal axes using the Schmidt orthogonal method.

[0025] Furthermore, when the Lyapunov index is greater than 0, it indicates that the vehicle is in an unstable state; when the Lyapunov index is equal to 0, it indicates that the vehicle is in periodic motion; and when the Lyapunov index is less than 0, it indicates that the vehicle is in a stable state.

[0026] A third aspect of the present invention provides a computer-readable storage medium.

[0027] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in a method for determining a vehicle handling stability region as described in the first aspect above.

[0028] A fourth aspect of the present invention provides a computer device.

[0029] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for determining a vehicle handling stability region as described in the first aspect above are implemented.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention takes the stable region of the automobile system as the research object, uses the Lyapunov exponent method to conduct a comprehensive analysis of the dynamic stability of the automobile system, and establishes an automobile stability envelope surface analytical model based on the stability analysis results. It can provide quantitative calculation results and is easy to promote and use in multi-degree-of-freedom automobile models.

[0032] The present invention adopts the classical orthogonalization method to solve the Lyapunov exponent of the automobile system under different driving conditions based on the existing numerical calculation basis, avoids the accumulation of misalignment errors of all vectors along the maximum expansion direction, and improves the accuracy of vehicle stability judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 is a flow chart of vehicle stability determination shown in the first embodiment of the present invention;

[0035] Figure 2 It is a structural diagram of a computer device shown in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the methods and devices according to various embodiments of the present invention. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the module, the program segment, or a part of the code may include one or more executable instructions for implementing the logical functions specified in the various embodiments. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based device that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0040] Embodiment 1

[0041] This embodiment provides a method for determining a vehicle handling stability region.

[0042] This embodiment provides a method for determining the vehicle handling stability region, taking the stability region of the automobile system as the research object, and using the Lyapunov index method to comprehensively analyze the dynamic stability of the automobile system. Based on the existing numerical calculation foundation, the classic orthogonalization method is used to solve the Lyapunov index of the automobile system under different driving conditions, and then the automobile stability envelope surface analytical model is established based on the solution results.

[0043] The concept of Lyapunov index: For an n-dimensional continuous dynamic system, under given initial conditions, the dynamic system is assumed to be an n-dimensional hypersphere with a radius of p, and its long-term evolution law is monitored; due to the local deformation properties of the phase trajectory of the system, the initial hypersphere will evolve into a hyperellipsoid. According to the length p of the i-th principal axis of the ellipsoid i (t) is used to define the i-th Lyapunov exponent of the system:

[0044]

[0045] The Lyapunov index describes the average rate at which the length of the principal axis of the ellipsoid expands or contracts over an infinite time. From the perspective of the stability of the solution in the Lyapunov sense, the Lyapunov index represents the average rate at which two adjacent orbits in the phase space (two adjacent points in the iteration process) converge or diverge. Therefore, a negative index represents the contraction of the orbit, corresponding to a stable state of motion; a positive index represents the separation of the orbit, corresponding to an unstable state of motion.

[0046] This embodiment provides a method for determining a vehicle handling stability region, comprising the following steps:

[0047] Step 1: When the longitudinal velocity (vehicle speed) v of the vehicle is fixed, obtain the vehicle body state at several consecutive moments.

[0048] Among them, the vehicle body state includes: vehicle lateral speed v x ; front wheel turning angle δ; vehicle mass m; distance from center of mass to front axle l g ; Distance from center of mass to rear axle l r ; The vehicle's moment of inertia around the z axis I z .

[0049] Step 2: Let the initial state transfer matrix be:

[0050]

[0051] Step 3: Based on the state transfer matrix, for the vehicle body state x(t) at each moment, the nonlinear vehicle model is used to solve the sideslip angle β and yaw rate ω, and the state matrix of the linearized system at moment t is obtained through transformation.

[0052] In this embodiment, the nonlinear vehicle model is in the form of:

[0053] Vehicle dynamics model (ignoring tire longitudinal force and driving resistance):

[0054]

[0055] Among them, the tire model:

[0056] F s =Dsin{Ctan -1 [Bα-E(Bα-tan -1 (Bα))]}

[0057] Among them, B, C, D and E are the parameters of the tire model; F s is the tire lateral force, including: front axle tire lateral force F sf , rear axle tire lateral force F sr .

[0058] Where α is the tire slip angle, including:

[0059]

[0060] By solving the vehicle dynamics model, we can get the sideslip angle β and yaw rate ω. Let x = (βω) T , then the entire nonlinear vehicle model can be expressed as:

[0061]

[0062] Among them, f is a 2×1 nonlinear vector function and x is a 2×1 state vector.

[0063] To monitor the evolution of the main axis, the following transformations were performed:

[0064]

[0065] Among them, ψ t It is the linearized system δx(t)=ψ t The state transfer matrix of δx(0); F(t) is a 2×2 Jacobian matrix for nonlinear vehicle models. It is obtained by linearization, that is, by transforming a small change in the solution x of the nonlinear vehicle model; is the state matrix of the linearized system at time t.

[0066] Step 4: Initialize the integration step s and time step τ. And for all vehicle body states x∈X, initialize the Lyapunov exponent λ(x), that is, λ i . Let m=1.

[0067] Step 5: Based on the given time step τ, the vehicle state matrix Perform numerical integration to obtain the next set of vectors v1(τ), v2(τ).

[0068] It should be noted that because the solution of the differential equation has two variables, β and ω, there are two corresponding to small changes and two corresponding to state transition changes.

[0069] Step 6: In order to avoid the accumulation of misalignment errors of all vectors along the direction of maximum extension, the Schmidt orthogonal method is used to orthogonalize these vectors into a new set of principal axes:

[0070]

[0071] Step 7: Let m = m + τ, and determine whether step is less than s. If so, get p i (m), return to step 5; otherwise, go to step 8.i (m) inherits the denominator of Schmidt orthogonalization, that is, p1(m) is ||v1(τ)||; p2(m) is ||v2(τ)-<v2(τ),e1(τ)> e1(τ)||.

[0072] Step 8: Figure 1 As shown, the integration process is repeated, and after a large number of integration steps s, the Lyapunov exponent can be estimated as:

[0073]

[0074] By using the above method, the solution step size τ is set to 0.1, the integration step is s = 1000, the Lyapunov exponents under different driving conditions are solved, and the stability of the vehicle is determined according to the positive and negative signs of the values. Specifically, λ i If it is greater than 0, it means the vehicle is unstable. i Equal to 0 means the vehicle is in periodic motion, λ i Less than 0 means the vehicle is stable.

[0075] Step 9: Change the vehicle speed and return to step 1.

[0076] Step 10: Through the above calculations, the stability of the vehicle at different speeds and different vehicle body states is obtained, and then the envelope surface analytical expression is obtained by radial basis function interpolation method. The specific steps are as follows:

[0077] The radial basis function is a real function whose value depends only on the distance from the origin or any point. The Gaussian distribution function is used in the present invention. Let the interpolation equation be Among them, c is the parameter to be determined.

[0078] All λ obtained in steps 1-9 i In the equation, select the sideslip angle and yaw rate equal to 0 (or approximately equal to 0), that is, select the vehicle speed, sideslip angle and yaw rate during periodic motion of the vehicle, and obtain (x j ,y j ,f j ), representing vehicle speed, sideslip angle and yaw rate, respectively. It can be understood that the Lyapunov index standard algorithm is used to traverse all states to obtain the state value of the stability boundary, and then these state value data are used to obtain the envelope surface analytical expression through the radial basis function interpolation method to obtain the vehicle handling stability area.

[0079] The known point (x j ,y j ,f j ) is substituted into the interpolation equation to obtain the analytical expression of the envelope surface.

[0080] The online calculation efficiency of Lyapunov exponent is extremely low, and it cannot be applied to the vehicle in real time in actual situations. Therefore, the Lyapunov exponent method is used to traverse all vehicle body states offline, count the stability boundary values, and then use these boundary values ​​to interpolate the stability envelope surface analytical expression. This expression can be used to calculate the stability state of the vehicle in real time.

[0081] The present embodiment provides a method for determining a vehicle handling stability region. The method calculates the corresponding Lyapunov index at different vehicle speeds based on the definition of the Lyapunov index, traverses all vehicle body states, and obtains an unstable state if the maximum Lyapunov index is greater than or equal to zero; if the maximum Lyapunov index is less than zero, the vehicle is considered to be stable in this state. In this way, the stability boundaries at different vehicle speeds can be obtained, and then the analytical surface expression of the final stability envelope space is obtained by the radial basis function surface interpolation method.

[0082] The method for determining the vehicle handling stability region provided in this embodiment has a mature numerical calculation method, can provide quantitative calculation results, and is easy to be promoted and used in multi-degree-of-freedom vehicle models. It is a method worthy of in-depth exploration.

[0083] In a method for determining a vehicle handling stability region provided in this embodiment, when the Lyapunov index calculation method is extended to a multi-degree-of-freedom vehicle model, the calculation can be reduced by radial basis function interpolation or cubic spline interpolation.

[0084] This embodiment provides a method for determining a vehicle handling stability region. The stability region is calculated based on different vehicle body states. Through the radial basis function surface interpolation method, a three-dimensional analytical expression can be finally obtained. The vehicle stability can be determined by inputting the vehicle body state.

[0085] Embodiment 2

[0086] This embodiment provides a device for determining a vehicle handling stability region.

[0087] A device for determining a vehicle handling stability region, comprising:

[0088] A data acquisition module is configured to: acquire vehicle body states at a plurality of consecutive moments at different vehicle speeds;

[0089] A stability judgment module is configured to: for each vehicle body state, after obtaining the center of mass sideslip angle, yaw rate and state matrix through a nonlinear vehicle model and transformation, calculate the Lyapunov index based on the definition of the Lyapunov index, and judge whether the vehicle is in a stable state, an unstable state or a periodic motion based on the Lyapunov index;

[0090] The area determination module is configured to: for each vehicle speed, extract the center of mass sideslip angle and yaw rate when the vehicle is in periodic motion, and obtain the analytical surface expression of the stability envelope space by radial basis function surface interpolation method.

[0091] Among them, the vehicle body state includes: vehicle lateral speed, front wheel turning angle, vehicle mass, distance from center of mass to front axle, distance from center of mass to rear axle and vehicle moment of inertia around z-axis.

[0092] In the process of calculating the Lyapunov index, the state matrix of the vehicle is integrated to obtain a set of vectors, and the Schmidt orthogonal method is used to orthogonalize the vectors into a set of principal axes.

[0093] Among them, when the Lyapunov index is greater than 0, it means that the vehicle is in an unstable state, when the Lyapunov index is equal to 0, it means that the vehicle is in periodic motion, and when the Lyapunov index is less than 0, it means that the vehicle is in a stable state.

[0094] It should be noted that the above embodiment provides a device for determining a vehicle handling stability region, which is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the electronic device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for determining a vehicle handling stability region provided in the above embodiment and the method for determining a vehicle handling stability region are of the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0095] Embodiment 3

[0096] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method for determining a vehicle handling stability region as described in the first embodiment above are implemented.

[0097] Embodiment 4

[0098] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for determining a vehicle handling stability region as described in the first embodiment above are implemented.

[0099] Figure 2 The schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application is shown. The computer device includes: a processor and a memory.

[0100] The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0101] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory is used to store at least one computer program, which is used to be used by the processor to implement the vehicle occupant detection method provided in the method embodiment of the present application.

[0102] Those skilled in the art will appreciate that the illustrated structure does not constitute a limitation on the computer device, and may include more or fewer components than illustrated, or combine certain components, or adopt a different component arrangement.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining a vehicle handling stability region, characterized in that: include: Obtain the vehicle body status at several consecutive moments at different vehicle speeds; For each vehicle body state, after obtaining the center of mass sideslip angle, yaw rate and state matrix through nonlinear vehicle model and transformation, the Lyapunov index is calculated based on the definition of the Lyapunov index, and the vehicle is judged to be in a stable state, unstable state or periodic motion based on the Lyapunov index; For each vehicle speed, the sideslip angle and yaw rate of the vehicle's center of mass when it is in periodic motion are extracted, and the analytical surface expression of the stability envelope space is obtained through the radial basis function surface interpolation method.

2. The method for determining a vehicle handling stability region according to claim 1, characterized in that: The vehicle body state includes: vehicle lateral speed, front wheel turning angle, vehicle mass, distance from center of mass to front axle, distance from center of mass to rear axle and vehicle moment of inertia around z-axis.

3. The method for determining a vehicle handling stability region according to claim 1, characterized in that: During the calculation of the Lyapunov index, the state matrix of the vehicle is integrated to obtain a set of vectors, and the vectors are orthogonalized into a set of principal axes using the Schmidt orthogonal method.

4. The method for determining a vehicle handling stability region according to claim 1, characterized in that: When the Lyapunov index is greater than 0, it means that the vehicle is in an unstable state. When the Lyapunov index is equal to 0, it means that the vehicle is in periodic motion. When the Lyapunov index is less than 0, it means that the vehicle is in a stable state.

5. A device for determining a vehicle handling stability region, characterized in that: include: A data acquisition module is configured to: acquire vehicle body states at a plurality of consecutive moments at different vehicle speeds; A stability judgment module is configured to: for each vehicle body state, after obtaining the center of mass sideslip angle, yaw rate and state matrix through a nonlinear vehicle model and transformation, calculate the Lyapunov index based on the definition of the Lyapunov index, and judge whether the vehicle is in a stable state, an unstable state or a periodic motion based on the Lyapunov index; The area determination module is configured to: for each vehicle speed, extract the center of mass sideslip angle and yaw rate when the vehicle is in periodic motion, and obtain the analytical surface expression of the stability envelope space by radial basis function surface interpolation method.

6. A vehicle handling stability zone determination system according to claim 5, characterized in that: The vehicle body state includes: vehicle lateral speed, front wheel turning angle, vehicle mass, distance from center of mass to front axle, distance from center of mass to rear axle and vehicle moment of inertia around z-axis.

7. The system for determining a vehicle handling stability region according to claim 5, characterized in that: During the calculation of the Lyapunov index, the state matrix of the vehicle is integrated to obtain a set of vectors, and the vectors are orthogonalized into a set of principal axes using the Schmidt orthogonal method.

8. The system for determining a vehicle handling stability region according to claim 5, characterized in that: When the Lyapunov index is greater than 0, it means that the vehicle is in an unstable state. When the Lyapunov index is equal to 0, it means that the vehicle is in periodic motion. When the Lyapunov index is less than 0, it means that the vehicle is in a stable state.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method for determining a vehicle handling stability zone as described in any one of claims 1 to 4 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the method for determining a vehicle handling stability zone as described in any one of claims 1 to 4 are implemented.

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