## 4 Simulation Results  
In order to compare the effectiveness of the controller designed in the previous section, a joint simulation platform based on CarSim and Simulink was established, in which CarSim is used to provide the vehicle dynamics model, the designed controller and tire force distribution method are implemented in Simulink. A standard Carsim vehicle model is taken in the simulation. The key parameters of the vehicle model in Carsim are given in Table 1. In this section, a slalom test is used to verify the effectiveness of the designed controller. The test settings of slalom simulation test are as follows: the maximum target speed of 65 km/h is carried out under the road adhesion coefficients \(\mu\) = 0.85 and \(\mu\) = 0.3. There are five cones in the slalom test scene, and the pile spacing \(L_{\mathrm{s}}\) = 30 m. As shown in Figure 5, the simulation step is 0.001s. Salom Condition 1: The Uniform Road Adhesion Coefficient \(\mu\) = 0.85, and the Vehicle Speed Is 65 km/h  
As can be seen from Figures 6 and 7, the steering angle of the intelligent vehicle steering wheel can better track the steering wheel angle value of the vehicle's ideal trajectory under slalom working conditions through the ASSM control. The high-precision automatic steering control is realized. Meanwhile, the yaw rate of the vehicle can be tracked for a long time in order to track the yaw angular velocity under the reference driving track, such that \begin{table}
\begin{tabular}{c c} \hline \hline
**Parameter** & **Value** \\ \hline \(k\) & 1.3 \\ \(\omega\) & 110 \\ \(\theta\) & 180 \\ \(\rho\) & 6 \\ \(\lambda\) & 11 \\ \(\alpha_{t}\) & 18 \\ \(\beta_{t}\) & 0.5 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Control system parameters. Figure 5: Slalom test situation of the schematic diagram. the driving stability of the intelligent vehicle can be guaranteed. However, under the FOSM control of the intelligent vehicle steering system, high control overshoot and control lag occur at both lower and higher vehicle speeds, which directly affects the steering control accuracy and driving stability of the vehicle. The control effect is significantly worse than the ASSM-based control effect proposed in this paper. Meanwhile, due to the discontinuous property of the first-order SMC, the FOSM controllers incur heavy chattering, while the ASSM controllers have almost no chattering, which can be verified by Figure 8.  
Salom Condition 1: The Uniform Road Adhesion Coefficient \(\mu\) = 0.3, and the Vehicle Speed Is 65 km/h  
As can be seen from Figures 9 and 10, the steering angle of the intelligent vehicle steering wheel can better track the steering wheel angle value of the vehicle's ideal trajectory  
Figure 8: Yaw moment. Figure 6: Steering wheel angle. Figure 7: Yaw angular velocity. under slalom working conditions (uniform road adhesion coefficient \(\mu=0.3\)) through the ASSM control. High-precision automatic steering control is realized. Meanwhile, the yaw rate of the vehicle can be tracked for a long time in order to track the yaw angular velocity under the reference driving track, such that the driving stability of the intelligent vehicle can be guaranteed. However, under the FOSM control of the intelligent vehicle steering system, high control overshoot and control lag occur at both lower and higher vehicle speeds, which directly affects the steering control accuracy and driving stability of the vehicle. The control effect is significantly worse than the ASSM-based control effect proposed in this paper. Meanwhile, due to the discontinuous property of the first-order SMC, the FOSM controllers incur heavy chattering, while the ASSM controllers have almost no chattering, which can be verified by Figure 11.  
In summary, among the various working conditions, high-speed working conditions on low-adhesion roads are the most dangerous working conditions, but the designed control system can effectively control the heading deviation and lateral deviation in vehicle trajectory tracking while ensuring the lateral stability of the vehicle.