Mechanism Analysis and Control of Lateral Instability of 4WID Vehicle Based on Phase Plane Analysis Considering Front Wheel Angle

Round 1

Reviewer 1 Report

The following aspects the authors need to consider:

1.     There are some grammar mistakes in this paper. Such as:

In Page 3, Line 102, ' model predictive control is used ' should be ' model predictive control was used ';

There are also many similar mistakes in this manuscript.

2.     In Page 4, Line156 in the field of vehicle dynamic，we often call the ‘transverse angular velocity’ as ‘yaw rate’, which can make the paper more readable.

The author should correct and recheck the paper carefully.

3.    The author did not explain the δ in Equation 1,2 and 3.

4.     There are so many different names to describe one definition. Such as the front wheel angle, the angle of the front, front wheel Angle. The author should change to a unified name

5.     In Fig15 (b) and (c), there are only 0~8s in x-axis, which is different from (d). The author should check the figure more carefully.  

6.     As we all know, the phase plane method has been widely used in the academic papers. Although the author used least square method to fit 300 groups, it is hard to say the innovation of the paper is excellent. Thus, the innovation and motivation of this paper should be further reconsidered and clarified.

Author Response

Dear Reviewer,

Thank you for taking the time to review our manuscript and providing valuable feedback. We appreciate your thorough and thoughtful review, and your comments have been extremely helpful in improving the quality of our work.

Please find attached our response to your comments, where we have addressed all of the issues you raised and made the necessary revisions. We hope that our responses and revisions are satisfactory, and we welcome any further feedback or suggestions you may have.

Once again, we thank you for your careful consideration of our work, and we appreciate the time and effort you have put into reviewing our manuscript. 

Best regards,

Haoran Tang

Author Response File: Author Response.pdf

Reviewer 2 Report

The article Mechanism analysis and control of lateral instability of 4WID vehicle based on phase plane analysis considering front wheel Angle brings an interesting study of a new developed new phase plane partitioning method (NPPPM).

The introduction presents a broad reference list and also describes the motivation of the authors by developing the NPPPM.

The second chapter presents in Fig. 1 the model of the vehicle. My only comment will also be directed here, since I cannot determine exactly from the text whether the authors used a one-track or two-track vehicle model.

The fig. 1 shows a two-track vehicle model, but there should be different wheel angle "delta" on the left and right front wheel according the Ackermann geometry. In the further text, the authors present a single-track model (Fig. 4). Please explain this discrepancy in the text of the article or define exactly the type of vehicle model used in further analyses.

I have no comments on other parts of the article, as further process of method modeling, simulation results and verification of the developed method are described sufficiently and they are also summarized in the form of short conclusion.

Author Response

Dear Reviewer,

Thank you for taking the time to review our manuscript and providing valuable feedback. We appreciate your thorough and thoughtful review, and your comments have been extremely helpful in improving the quality of our work.

Please find attached our response to your comments, where we have addressed all of the issues you raised and made the necessary revisions. We hope that our responses and revisions are satisfactory, and we welcome any further feedback or suggestions you may have.

Once again, we thank you for your careful consideration of our work, and we appreciate the time and effort you have put into reviewing our manuscript. 

Best regards,

Haoran Tang

Author Response File: Author Response.pdf