Abstract
This paper investigates the use of four-wheel-steering system for the control of vehicle, in the context of automatic lane-tracking. Four-wheel-steering system provides two independent control inputs which can much enhance handling and stability, thus it is expected that such system can also provide satisfactory lane-tracking performance. In this paper, the lane-tracking control system is designed on the basis of the four-wheel-steering automobile whose desired steering response is realized by the application of model matching control. Two representative desired steering responses are proposed in this paper. Finally, simulations in lane-tracking and theoretical analysis are conducted to investigate the effectiveness of the proposed control system.
