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Analyzing the extreme drifting conditions of vehicle tires can greatly improve the horizontal and vertical control capabilities and driving safety of autonomous vehicles. This paper first adopts the UniTire model to describe the friction characteristics in high slip regions, and then optimizes the vehicle drift control algorithm. Next, based on the vehicle stability control principle, the target pressure for the wheel cylinder was calculated to achieve a quick return of the vehicle to steady straightline driving after drifting. Finally, the rapid prototype verification was carried out on the CANoe's industrial computer platform by integrating DYNA4 and Simulink. The results show that the control algorithm proposed in this paper allows the vehicle to quickly achieve lateral and longitudinal stability during drifting and to promptly return to straightline driving after drifting, meeting the realtime control requirements.
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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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