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

Figure 5

The characteristics of cars excessive sideslip on the low friction road and then slowing down. Curve 1: the speed is 28.8 km/h; Curve 2: the initial velocity is 28.8 km/h and then is decreased to 14.4 km/h.

(a) The change of the yaw angular velocity

(b) The front-wheel sideslip angles change

(c) The rear-wheel sideslip angles change

(d) Lateral force variation of the front wheels

(e) Lateral force variation of the rear wheels

(f) The centroid trajectory