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To address the issues of poor yaw stability and low trajectory tracking accuracy in in-wheel motor-driven vehicles under complex operating conditions, a coordinated control method was proposed. By using neural networks for dynamic identification, the stable region in the phase plane of vehicle center-of-mass sideslip angle and sideslip angular velocity was determined. And the instability factor was obtained based on the boundary line features. This factor served as a parameter influencing the objective function weight, while sliding mode control was employed to prevent excessive wheel slip. Simulation results show that compared to the single-target MPC trajectory tracking control strategy, the proposed method reduces the maximum lateral tracking error on low-adhesion road surfaces by 61.7%, and decreases the maximum sideslip angle of the vehicle's center of mass by 75.7%. Even at high speeds, the vehicle maintains stable motion, achieving a balanced improvement in both trajectory tracking accuracy and yaw stability.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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