On the extension of the Gratzmuller critical velocity for locked steering road vehicle to the case of piloted vehicle.

This study deals with the stability of a vehicle/pilot system in which the pilot mathematical model is derived from a single-loop general model and is characterized by a set of four parameters involving a loop gain constant K. phase-lead time Ta, a pure time delay Y., and a neuromuscular lag-time constant Tr. The vehicle model consist of a two degrees of freedom model in yaw and lateral displacement.