Full
Outline
To address the lateral stability control problem of four-wheel steer-by-wire vehicles, a control strategy based on Piecewise Affine (PWA) identification of tire cornering characteristics is proposed. The PWA identification method is employed to model the nonlinear tire cornering characteristics, based on which a Global Fast Terminal Sliding Mode (GFTSM) lateral stability control strategy is developed. The proposed strategy adopts a coordinated active steering architecture: the front-wheel controller aims to track the desired yaw rate and calculates the active front-wheel steering angle, while the rear-wheel controller considers the tracking errors of both yaw rate and sideslip angle and generates the active rear-wheel steering angle through a weighted fusion approach. Co-simulation results using MATLAB/Simulink and CarSim demonstrate that, under the low-adhesion double-lane-change condition, the proposed method reduces the maximum sideslip angle by 57.6%, 73.5%, and 98.2% compared with the PWA-based Linear Quadratic Regulator (LQR) control, linear tire model-based GFTSM control, and proportional control, respectively. Under the high-adhesion large-steering-angle condition, the peak sideslip angle is reduced from 4.852 3° to 0.065 9°, while the peak yaw rate is decreased from 19.53 (°)/s to 16.07 (°)/s. These results verify that the proposed method can effectively suppress vehicle lateral state fluctuations and improve the lateral stability of FSV under extreme operating conditions.
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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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