“…I shows that the kinetic tire friction coefficient is typically slightly lower than the static stability factor /2h (the average static stability factor among vehicle models introduced in 2003 was approximately 1.4 for passenger cars and 1.2 for SUVs [28]), and hence, the no-sliding condition should be violated before the no-rollover condition. That being said, a more realistic model including e.g., normal forces or friction forces unevenly distributed among the contact points between the tires and the road surface [29], [30], nonzero pitch or roll angles [26], or tripped rollovers [31], would complicate the analysis. Now, we will identify cornering events by observing whether either of the statistics in (2) and (5) reach some predetermined thresholds, that is, whether the driver violates the condition C : T (v, a, ω) < γ SL and T (v, 0, ω) < γ RO (6) where γ SL = c 1 · µ and γ RO = c 2 · /2h for some constants c 1 , c 2 ∈ (0, ∞).…”