关键词: 四轮转向；模型预测控制；操纵稳定性；二次规划

Abstract: In order to improve the handling stability of the vehicle on the high-speed and low adhesion road, this paper designs a model predictive controller to track the linear two degree of freedom ideal model, obtains the yaw rate and sideslip angle deviation, and then calculates the actual four wheel angles by quadratic programming algorithm. Establishing the open-loop angle step condition in Carsim software, this paper verifies the effectiveness of the algorithm. The results show that: compared with the front wheel steering, the active four-wheel steering vehicle based on model predictive control designed in this paper can effectively reduce the yaw rate and mass center side slip angle under the vehicle angle step input, and better track the ideal control target. The active four-wheel steering vehicle improves the vehicle handling stability and path tracking accuracy.

Key words: Four wheel steering; Model prediction control; Handling stability; Quadratic programming