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The vehicle stability region is an important aspect of research on vehicle stability analysis and control. For the problems of inaccurate description and difficult solution of stability region in existing research, a quadrilateral description and automatic solution method for vehicle stability region is proposed. A nonlinear twodegreeoffreedom vehicle model is established, and the ant colony algorithm is used to solve the equilibrium state of vehicle system. The Lyapunov indirect method is applied to determine the stability of the equilibrium state. Based on the phase plane of the sideslip anglesideslip angle velocity of mass center, several phase trajectory feature points and the phase plane stability region boundary point search method are established to solve the stability region boundary points. According to the different distributions of the vehicle stability region, two types of stability regions are proposed, and corresponding judgment methods, stability region quadrilateral description and its automatic solution methods are established. Based on the proposed method, the stability region of vehicle under common medium speed driving condition is solved. The results are compared with the parallel line method and diamond method, and the correctness of the quadrilateral description is validated by CarSim sine wave simulation results. The results show that the proposed quadrilateral description of the vehicle stability region can better describe the boundary of the stability region than the parallel line method and diamond method, and automatic solution reduces the workload of stability region solution.
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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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