Coordinated Control for Active 4WS Vehicle Based on Linear Quadratic Differential Game

A novel linear quadratic differential game-based active four-wheel steering controller is proposed. Infinite-planning horizon quadratic differential game model for active four-wheel steering is established. The active front wheel steering angle and the active rear wheel steering angle are defined as two agents in the game. The non-cooperative feedback Nash equilibrium solution is obtained by solving coupled algebraic Riccati equations. In the co-simulation environment including Matlab/Simulink and Carsim, simulations under the J-turn maneuver at 10 m/s and 20 m/s are carried out. The results suggest that the proposed controller can reduce the sideslip angle and track the desired yaw rate effectively.