中文摘要：

为了提高四轮转向（4WS）控制技术用于改善汽车操纵稳定性时的有效性,基于硬件在环仿真技术进行4WS车辆快速开发系统的总体方案设计,从仿真计算机软硬件、接口、实际车辆硬件3个方面论述4WS车辆快速开发系统的设计过程;通过纯数字仿真、实时数字仿真、硬件在环仿真以及实车试验验证建立整个4WS车辆控制逻辑快速开发过程。实车道路试验结果表明：改装的4WS轿车的性能优于原来的前轮转向系统,具有较好的操纵稳定性。

英文摘要：

In order to improve four-wheel steering（4WS） control technology which can enhance the vehicle handling and stability,based on hardware-in-the-loop simulation technology,the overall scheme design of rapid development system for 4WS vehicle was presented.Design process of 4WS rapid development system,including the computer software and hardware part,interface part and real vehicle hardware part was discussed.The whole procedure of rapid development for 4WS including off-line simulation,real-time simulation,hardware-in-the loop simulation and the validation of the vehicle field test based on the control development system was investigated by the 4WS rapid development system.The 4WS automobile was modified successfully and the developed 4WS controller was then applied in the vehicle field test for validation and further modification.The test results show that the modified 4WS is prior to front-wheel steering system.It has better handling and stability.