Study of the problem and the idea of operation of four-wheel-steering cars

The article takes the form of a review paper and focuses on the control problems of four wheel steering vehicles. The main issues related to the control of four wheel steering (4WS) vehicles, the historical development, the current state and the approach to the construction of 4WS vehicles have been discussed. The whole of theoretical issues related to the control of the car direction (including elements related to mathematical modelling and simulation studies of the vehicle motion, issues of synthesis and analysis of the 4WS control algorithms) were presented systemically. The presented collection of literature is based on a rather extensive review relating to 4WS cars and on considerations shaping the concept of development of the topic of control algorithms in 4WS cars. A preliminary concept of control in autonomous cars is also presented and will be explain what type of road manoeuvres it is going to analyse. The authors have also shown an example of the computational apparatus used.