抄録
This paper proposes a vehicle path tracking control system for vehicle equipped with four-wheel steering (4WS) system. Although conventional front-wheel steering vehicle can be employed for path tracking, it is impossible to achieve desirable control performance in both lateral and yaw motion from the viewpoint of vehicle dynamics and control. On the other hand, steering the rear wheels permits the vehicle path and attitude to be controlled independently of each other. Based on this merit, 4WS path tracking control system is designed via coordinate transformation to decouple lateral motion and yaw motion during path tracking maneuver. Finally, its validation and effectiveness are investigated by computer simulation.
