四轮转向两自由度模型，测质心侧偏角和横摆角速度-Four-wheel steering two degree of freedom model of center of mass of side-slip Angle and yawing angular velocity measurement

两自由度非线性比例前馈四轮转向模型，测汽车质心侧偏角和横摆角速度-Two degrees of freedom nonlinear feedforward four-wheel steering model, auto measuring centroid side-slip Angle and yawing angular velocity

dugoff轮胎模型 输出量：纵向力(N),侧向力(N)； 输入量：轮胎垂向载荷(N),轮胎滑转率,轮胎侧偏角(rad),轮胎纵向附着系数,轮胎纵向刚度(N/rad),轮胎侧向刚度(N/rad)- Dugoff tire model Output: longitudinal force (N), lateral forces (N) Input: vertical tire load (N), the tire slip rate, the tire slip

分析汽车横摆角速度和质心侧偏角，课用于研究汽车ESP系统(Analysis of the angular velocity of the car's yaw and the side angle of the center of mass)