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Outline
To enhance the handling stability and active safety of Steering-By-Wire (SBW) vehicles, this study proposes a stability control strategy based on sliding mode control, integrating yaw rate and sideslip angle as feedback variables on the foundation of variable steering ratio control. A Particle Swarm Optimization-Grey Wolf Optimization (PSO-GWO) algorithm is applied to optimize the variable steering ratio with constant yaw rate gain, ensuring high sensitivity at low speeds and stability at high speeds. In addition, an adaptive global fast terminal sliding mode controller is developed to suppress chattering, which generates an auxiliary front-wheel steering angle to further improve vehicle stability. The SBW system is modeled in MATLAB/Simulink and co-simulated with CarSim under double lane-change maneuvers on high-speed/high-friction and medium-speed/low-friction roads. Simulation results show that compared with the uncontrolled case and the variable steering ratio control strategy alone, the proposed control strategy effectively improves the vehicle dynamic response and stability. Under the high-speed/high-friction condition, the lateral displacement error is reduced from 6.37% to 3.57%; under the medium-speed/low-friction condition, it is reduced from 9.74% to 2.11%. This study enhances the stability and active safety of SBW vehicles and provides valuable insights for the development of advanced SBW systems.
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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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