Active rear wheel steering control method for adjusting transverse motion pose of vehicle

Abstract

The invention discloses an active rear wheel steering control method for adjusting the lateral motion pose of a vehicle, which comprises a feed-forward link and a feedback link and comprises the following specific steps: in the feed-forward link, designing a feed-forward control law of rear wheel steering according to the steady-state characteristic of a system corresponding to a target side slip angle so as to enhance the steady-state performance of the system; in the feedback link, according to the degree of deviating from the target pose, a feedback control law of rear wheel steering is obtained through a sliding mode control method and Lyapunov stability judgment conditions and used for enhancing the transient performance of the system, and finally, a rear wheel steering angle determined by the feed-forward and feedback control laws is applied to a controlled vehicle system. Compared with a front-wheel steering vehicle, the front-wheel steering vehicle has the advantages that the system response time can be shortened, and the low-speed maneuverability and the high-speed stability of the vehicle can be improved.

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