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This study investigated the protective effect of an active steering control strategy when VRU start from the outside or inside of a curve and cross the road with uniform acceleration，deceleration，and uniform velocity. Firstly，the spatial positional relationship models for vehicles and VRU，the safety assessment models，and the active steering safety distance models were established to propose an active steering control strategy. Then，a lateral collision avoidance controller was designed using the quintic polynomial lane-change method，the Frenet coordinate transformation method，and the model predictive control method. Finally，with electric bicycle riders as the collision avoidance targets，18 mixed conditions were constructed based on the state of the target lane status，the movement direction，and the speed of the electric bicycle to verify the collision avoidance effect of the active steering control strategy. The results indicated the active steering control strategy avoided collisions between vehicles and electric bicycles under mixed conditions. The preceding，ego，and following vehicles in the target lane can drive normally during lane-changing，and the vehicle ride comfort was satisfactory.
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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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