关键词: 四轮转向；轮胎侧偏特性；轮胎非线性特性；分段线性化

Abstract: In the study of the handling stability of the four-wheel steering vehicle, it is difficult to deal with the nonlinear model of the tire directly by using the linear control theory. In order to solve this problem, this paper proposes to establish a piecewise linear model of the tire according to the cornering characteristics of the tire, and uses MATLAB to simulate and compare the cornering characteristics of the piecewise linear rear tire model with the tire cornering characteristics of the "magic formula" tire model. It shows that the cornering characteristic curves of the piecewise linearized tire model and the magic "magic formula" tire model are consistent with each other. It is further shows that the model can easily obtain the cornering stiffness of the tire through linear processing and can be applied to the study of the steering stability of the four-wheel steering vehicle.

Key words: Four-wheel steering; Tire cornering characteristics; Tire nonlinear characteristics; Piecewise linearization