【摘要】 随着四轮转向技术的发展，四轮转向汽车在高速换道时，前后轮通过同向转向可以提高车辆的稳定性，当前后轮同向转向并且角度一致时会造成车辆斜向行驶。针对四轮转向汽车斜向行驶换道的安全性进行研究。通过构建车辆安全换道模型，分析车辆周围的车流速度、相对距离及车道宽度等，以不发生碰撞为标准，建立一系列横向运动与纵向运动的数学关系公式，从而获得精确的车轮转向角度及精确的回正时间。通过Carsim和Simulink联合仿真，结果表明，通过数学公式所得到的精确数据，四轮转向汽车在斜向行驶时能够避免与周围车辆发生碰撞，并且可以显著提升车辆行驶的稳定性。更多还原

【Abstract】 Changing lanes is common on the road. With the development of four-wheel steering technology, when a four-wheel steering car changes lanes at a high speed, its front and rear wheels improve its stability by steering in the same direction. When they are steered in the same direction with the same angle, the vehicle may be caused to drive obliquely. We study the safety of changing lanes in diagonal driving of four-wheel steering vehicles. By constructing a safe lane change model of the vehicle, analyzing the traffic speed, relative distance and lane width around the vehicle, we build a series of mathematical relationship formulas for lateral and longitudinal motion without the occurrence of collision. The accurate wheel steering angle and precise return time are obtained. Through the joint simulation of Carsim and Simulink, our results show the accurate data obtained by the mathematical formula help vehicles avoid collisions with others when driving diagonally and significantly improve their stability.更多还原