Research on Stability Control Based on the Wheel Speed Difference for the AT Vehicles

Figure 4

Characteristics of cars at different speeds on the low friction road. Curve 1: the speed is 14.4 km/h; Curve 2: the speed is 28.8 km/h; Curve 3: the speed is 54 km/h.

(a) The change of the yaw angular velocity

(b) The change of the front-wheel sideslip angles

(c) The change of the rear-wheel sideslip angles

(d) Lateral force variation of the front wheel

(e) Lateral force variation of the rear wheel

(f) The centroid trajectory