Dynamics simulation for 4WS vehicle steering performance

Considering the nonlinear effects of tyre on the vehicle model, Pacejka tyre model was adopted to set up the 3-D nonlinear dynamic model of four-wheel steering vehicle. Simulations were carried out on the 3-D nonlinear dynamic model for a step input. The simulation results show the advantages of four-wheel steering vehicle. Compared with front wheel steering vehicle, the four-wheel steering vehicle has smaller steering radius and better maneuverability in low speed, and has better robustness in high speed.