Advanced vehicle control technology using four-wheel independent steering system

Improvements on vehicle handling stability and maneuverability were achieved through active and independent rear wheels control in this work. The concrete overall design of the four wheel independent steering system (4WIS) was formulated in details. According to the control strategy, the mathematical model of 4WIS was analyzed to deduce the relationships between separated rear wheel steering angles and some vehicle parameters. The simulation results and the road test data show that a 4WIS system has better performances in kinematical harmony and control responsiveness than those from a conventional 4WS vehicle.