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1·The steady-state response of a vehicle is often evaluated by the steady-state yaw velocity and front wheel angle at a equal speed.

汽车等速行驶时，常用稳态横摆角速度与前轮转角之比来评价其稳态响应。

2·A longitudinal and lateral decoupled dynamics model was presented based on the dynamics analysis, as the longitudinal velocity, lateral velocity and yaw rate as the states.

在车辆动力学分析的基础上，建立了以纵向速度、横向速度、横摆角速度为状态变量的车辆纵横向耦合的动力学模型。

3·Based on a zero sideslip Angle proportional control, we get the gain of the distance from the centroid to the steering center position, yaw angular velocity and lateral acceleration.

在此基础上，得到车辆采用零侧偏角控制策略时，车辆转向中心到质心的距离，横摆角速度增益及侧向加速度增益的表达式。