# Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning

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## Abstract

**:**

## 1. Introduction

## 2. Intelligent Vehicle Platooning System Model

#### 2.1. Single-Vehicle Model and Virtual Articulated Model

#### 2.2. Intelligent Vehicle Platooning State Space Model

## 3. Motion Stability Control Strategy

## 4. Motion Stability Analysis

## 5. Simulation Analysis

## 6. Conclusions

## Author Contributions

## Funding

## Data Availability Statement

## Conflicts of Interest

## Nomenclature

Symbol | Description | Value |

${J}_{Y}$ | The equivalent moment of inertia of the rack to the kingpin | 120 kg·m^{2}/rad |

${J}_{h}$ | The moment of inertia of the steering column | 120 kg·m^{2}/rad |

${J}_{w}$ | The moment of inertia of the front wheel around the kingpin | 130 kg·m^{2}/rad |

${K}_{Y}$ | The equivalent stiffness of the gear | 35,000 N/rad |

${K}_{h}$ | The torsional stiffness of the steering wheel and rack meshing | 35,000 N/rad |

${K}_{det}$ | The equivalent deformation stiffness of the steering tie rod | 35,200 N/rad |

${C}_{Y}$ | The equivalent damping of the rack and pinion meshing | 250 N·m·s/rad |

${C}_{h}$ | The torsional damping of the steering wheel | 250 N·m·s/rad |

${C}_{w}$ | The rotational damping of the front wheel around the kingpin | 250 N·m·s/rad |

${C}_{det}$ | The equivalent damping of the deformation of the steering tie rod | 250 N·m·s/rad |

${m}_{1},{m}_{2}$ | Front and rear vehicle quality | 1980, 1880 kg |

${I}_{z1},{I}_{z2}$ | Moment of inertia of front and rear vehicles | 5020, 4150 kg·m^{2} |

$a,b,c$ | The distances from the front axle to the center of mass, from the rear axle to the center of mass, and from the center of mass to the virtual articulated point | m |

${\delta}_{h},\delta $ | Steering wheel angle and steering wheel angle | rad |

$\phi ,\dot{\phi}$ | Yaw angle and yaw rate | rad, rad/s |

$\dot{x},\dot{y}$ | Longitudinal speed and lateral speed | m/s |

${\alpha}_{f},{\alpha}_{r}$ | Front axle sideslip angle and rear axle sideslip angle | rad |

$\theta $ | the angle between the front and rear axle lines | rad |

## References

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Parament | Value | Parament | Value |
---|---|---|---|

${D}_{f},{D}_{r}$ | 15,650, 15,120 | $C,B,E$ | 1.29, 9.3, −0.8 |

${S}_{h}$ | 0 | ${S}_{v}$ | 0 |

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## Share and Cite

**MDPI and ACS Style**

Xiao, G.; Li, Z.; Sun, N.; Zhang, Y.
Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning. *World Electr. Veh. J.* **2024**, *15*, 169.
https://doi.org/10.3390/wevj15040169

**AMA Style**

Xiao G, Li Z, Sun N, Zhang Y.
Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning. *World Electric Vehicle Journal*. 2024; 15(4):169.
https://doi.org/10.3390/wevj15040169

**Chicago/Turabian Style**

Xiao, Guangbing, Zhicheng Li, Ning Sun, and Yong Zhang.
2024. "Research on the Stability Control Strategy of High-Speed Steering Intelligent Vehicle Platooning" *World Electric Vehicle Journal* 15, no. 4: 169.
https://doi.org/10.3390/wevj15040169