| The paper proposes a new method to determine the nonlinear equilibrium point for vehicle steering. The nonlinear two degree-of-freedom steering model is established, and the simplified magic formula tire model is used to describe the nonlinear tire lateral force. The particle swarm optimization algorithm is briefly analyzed, and applied to solve the steering nonlinear equilibrium point. Three driving conditions with different front wheel steer angles, the values of road adhesion coefficient and vehicle speeds are designed, under which the nonlinear equilibrium points are obtained respectively. The results show that the particle swarm optimization algorithm can accurately estimate the steering nonlinear equilibrium point,and the fitness value is less than the set accuracy of 10-4. |
