Two methods of judging the driving stability of AFV were presented:the eigenvalue method and the method of steady response under constant input,and the expressions of stability factor and critical vehicle speed were derived.

• 给出了铰接式车辆行驶稳定性的两种判别方法:特征值方法和时不变输入下稳态响应方法。 给出了稳定性因数表达式和临界车速计算方法和公式。