中文摘要：

提出了一种基于四轮转向和差动制动联合控制的车辆横摆动力学控制策略。根据四轮转向和差动制动对横摆动力学的影响，设计了一个双输入双输出模糊控制器，以产生适当的横摆力矩和后轮转向角来控制质心侧偏角和横摆角速度。在Matlab／Simulink环境下建立了相应的仿真模型并在典型转向工况下进行了仿真试验。研究结果表明，与两个系统单独控制相比，联合控制情况下车辆的横摆动力学响应特性得到了很好的改善，从而提高了车辆的操纵稳定性和安全性。

英文摘要：

A control approach based on combining four-wheel steering and differential braking to improve vehicle yaw dynamics has been proposed. A fuzzy logic controller with two inputs and two outputs was designed considering the effects of four-wheel-steering and differential braking on yaw dynamics. The adequate yaw moment and rear wheel steering angles generated by the fuzzy logic controller made vehicle＇s actual yaw rate and sideslipped angle track their desired values. The vehicle model for simulation was established in Matlab/Simulink software environment. The simulations in some typical cases, including J turn and lane change, were carried out and the simulation results showed that compared with the individual control of these two systems, the combined control approach could improve vehicle handling and stability performance significantly, thus, the active safety of vehicle has been enhanced.