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Research on Lateral Stability Control of Three-Axle Vehicle Based on All-Wheel Steering
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Gaoshang Dong, Xiaoqiang Sun, Zhenqiang Quan, Long Chen
Automobile Technology | 2025, (8) : 49 - 55
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Automobile Technology | 2025, (8): 49-55
Research on Lateral Stability Control of Three-Axle Vehicle Based on All-Wheel Steering
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Gaoshang Dong, Xiaoqiang Sun, Zhenqiang Quan, Long Chen
Affiliations
  • Institute of Automotive Engineering, Jiangsu University, Zhenjiang 212013
Published: 2025-08-24 doi: 10.19620/j.cnki.1000-3703.20240093
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In order to improve the active safety of three-axle vehicle under special driving conditions, an all-wheel steering control strategy combining feedforward control and feedback control is proposed. Firstly, considering the nonlinear mechanical properties of tires and the difference of vertical stiffness of each axle, a nine-degree-of-freedom three-axle vehicle dynamics model is established, and the tire cornering stiffness in the reference model is dynamically corrected in real time based on Newton interpolation method. On the basis of this model, a zero-centroid sideslip angle proportional feedforward control based on Ackerman principle is proposed to cooperate with the front wheel steering feedback controller based on Nonsingular Fast Terminal Sliding Mode (NFTSM) and the middle and rear wheel steering feedback controller based on Fuzzy PID to form an all-wheel steering control strategy. Finally, the vehicle is simulated and verified under the condition of fish hook and double lane change. The results show that the designed all-wheel steering control system improves the vehicle's trajectory tracking performance by 34% and lateral stability by 26% over the feedforward control strategy.

Three-axle vehicle  /  All-wheel steering  /  Nonsingular Fast Terminal Sliding Mode (NFTSM)  /  Fuzzy PID  /  Handling stability
Gaoshang Dong, Xiaoqiang Sun, Zhenqiang Quan, Long Chen. Research on Lateral Stability Control of Three-Axle Vehicle Based on All-Wheel Steering[J]. Automobile Technology, 2025 , (8) : 49 -55 . DOI: 10.19620/j.cnki.1000-3703.20240093
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doi: 10.19620/j.cnki.1000-3703.20240093
  • Online Date：2025-10-28
  • Published：2025-08-24
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  • Revised：2024-03-11
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    Institute of Automotive Engineering, Jiangsu University, Zhenjiang 212013
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表12种不同金属材料的力学参数
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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