Generating MMM diagram for defining the safety margin of self driving cars

Autonomous driving, is considered as the future of mobility, and research on this topics growing exponentially. On the one hand, these vehicles must be controllable, making rapid maneuvers possible, in case of a sudden accident situation, while on the other hand their motion must be stable, to maintain directional stability under disturbances. It is important to specify the so called "safety margin", the range of possible motions that the vehicle can produce with keeping its stability. The limits of the possible movement of a vehicle depend on its parameters. The aim of our study is to determine which parameters affect the controllability and stability of a vehicle. To find this, we used the "MRA moment method" to create the "Yaw Moment Diagram" in our simulation environment. This method is usually used to map the possible range of motion and judge the stability and controllability of a possible motion state. Here we will use a two track vehicle model, with nonlinear tire characteristics, and complete model of suspension linkage to create the MMM diagram of a vehicle with given parameters.