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In order to improve the path tracking ability and handling stability of in wheel motor driven electric vehicles，a novel coordination control strategy for active four-wheel steering （4WS） and direct yaw moment control （DYC） is proposed. Firstly，considering the path tracking performance and handling stability of vehicles，a shared steering model is established and on this basis，the 4WS control strategy based on non-cooperative Nash game theory is proposed. Secondly，in order to improve the lateral stability of the vehicle under extreme conditions，the vehicle state is divided into stable，transitional，and unstable regions based on the phase plane of the center of mass sideslip angle，and the DYC controller is established in each region. Then，in order to achieve coordinated control of rear wheel steering and direct yaw moment，the coordination controller based on fuzzy neural network is established between ARS and DYC. Finally，the CarSim/Simulink co-simulation platform and Hardware-in-the Loop （HIL） platform are used to conduct experimental verification under dual line shifting conditions. The research results show that the proposed control strategy can effectively improve the path tracking precision and handling stability of the vehicle under extreme driving 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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