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

摘要： 为提高汽车在高速、低附着系数路面下的操纵稳定性，论文设计模型预测控制器跟踪线性 二自由度理想模型，得到横摆角速度与质心侧偏角偏差，然后由二次规划算法计算实际的四个车 轮转角，并在 Carsim 软件中建立开环角阶跃工况进行联合仿真。结果表明：文章所设计的基于模 型预测控制的主动四轮转向汽车相对于前轮转向，能够有效降低整车角阶跃输入下的横摆角速度 与质心侧偏角，更好地跟踪理想控制目标，主动四轮转向汽车提高了整车的操纵稳定性和路径跟 随精度。

关键词: 四轮转向；模型预测控制；操纵稳定性；二次规划