基于微分对策的四轮转向汽车路径追踪算法研究
Research on Four-wheel-steering Vehicle Automatic Tracking Algorithm Based on Differential Game

采用微分对策的基本理论和方法，在推导出的四轮转向车辆平面运动微分方程的基础上，建立了四轮转向汽车自动追踪给定路径的微分对策模型，并利用微分对策最优条件，提出了最优控制目标和求解算法。利用Matlab软件，针对该算法对车辆进行高速双移线、高速蛇形运动和低速圆周运动路径追踪进行了仿真计算。仿真结果表明：在四轮转向车辆路径自动追踪的研究中应用微分对策的理论和方法，可以有效提高车辆操纵稳定性和路径追踪精度。
A non-cooperation differential game model of the four-wheel-steering (4WS) vehicle's automatic tracking was constructed based on the vehicle's planar motion differential equation, and the corresponding optimization control objective and algorithm were proposed by using optimal conditions of the differential game theory. Based on this method, the simulations were carried out with high speed ISO Lane Change, Sine Steer and low speed circular motion conditions in Matlab. The simulation results indicated that applying differential game's theory in the 4WS vehicle's automatic tracking research can improve vehicle handling stability and path tracking accuracy effectively