四轮驱动四轮转向汽车的爆胎模型，主要是车轮半径、侧偏刚度以及附着系数等的变化最终导致很难控制(The tire burst model of four-wheel-drive four-wheel-steering vehicle is mainly caused by the changes of wheel radius, lateral stiffness and adhesion coefficient, which ultimately makes it difficult to co