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In this paper the influence of rear steering system on stability and manoeuvrability of a vehicle using nonlinear model is investigated. Proposed mathematical model consists of 7-dof vehicle model which nonlinearity of tire characteristics is considered in. Next, based on the nonlinear model, fuzzy control system is developed to improve the handling and stability of vehicle. The advantages of coordinating four wheel steering system are demonstrated through computer simulations in lane-change manoeuvres for condition of dry road.