关键词：汽车；四轮转向系统；侧向稳定性；集成控制系统；部分解耦
摘 要：This paper presents the design of integrated control for four-wheel steering (4WS) vehicle.A vehicle nonlinear dynamics model is built based on a lateral dynamics simplified linear model.A more accurate sideslip and yaw rate controller is used for lateral dynamics model of 4WS vehicle.Then a vehicle model based on the individual channel and partial decoupling design paradigm is identified from the vehicle dynamics. The results of a stability analysis and simulations are presented to show that the 4WS integrated control system can markedly enhance good vehicle lateral maneuverability.