Matthews, C., Cho, S., Ferris, J., Schlinkheider, J. et al., "Using Performance Margin and Dynamic Simulation for Location Aware Adaptation of Vehicle Dynamics," SAE Int. J. Passeng. Cars - Mech. Syst. 6(1):225-230, 2013, doi:10.4271/2013-01-0703.
One seminal question that faces a vehicle's driver (either human or computer) is predicting the capability of the vehicle as it encounters upcoming terrain. A Performance Margin (PM) is defined in this work as the ratio of the required tractive effort to the available tractive effort for the front and rear respectively. This simple definition stems from and incorporates many traditional handling metrics and is robust in its scope of applicability. The PM is implemented in an Intervention Strategy demonstrating its use to avoid situations in which the vehicle exceeds its handling capabilities. Results from a design case study are presented to show the potential efficacy of developing a PM-based control system.