四轮转向 － 驱动汽车相较于传统车辆能保证四轮转角/转矩独立可控，具有十 分优异的主动动力学控制性能。文中针对四轮转向 － 驱动汽车转角转矩的协调控制提出 了一种基于遗传算法的时变 LQR 控制系统。该系统区别于传统的线性化轮胎参考模型， 考虑轮胎的变刚度特性建立线性时变系统，并利用遗传算法对状态量的控制权重矩阵进 行优化。仿真结果表明，在给定的转角阶跃输入下，考虑轮胎非线性特性的时变 LQR 控制系统相较于线性化模型控制系统，对质心侧偏角的零化效果更优异，横摆角速度对 理想值的跟踪精度提升 3. 01% 。在高速低附路面下的双移线工况仿真表明，基于遗传 算法的时变 LQR 控制系统能确保车辆具有较好的轨迹跟踪能力，最大侧向位移误差控 制效果相较于前轮转向车辆提升 44% 。

As compared with traditional vehicles，four-wheel steer/drive vehicles have very good active dynamics control performance，ensuring that the four-wheel steering /torque is independently controllable． This article proposed a time-varying LQR control system based on genetic algorithm for the coordinated control of the steering angle-torque of four-wheel steer/drive vehicles． Different from the traditional linearized tire reference model，it established a linear time-varying system considering the variable stiffness characteristics of the tire，and the control weight matrix of the state quantity was optimized with the genetic algorithm． The simulation results show that under a given corner step input，the time-varying LQR control considering the non-linear characteristics of the tire is better than the linearized model control system in zeroing the center of mass sideslip angle，and the tracking accuracy of the yaw rate with ideal value is improved by 3. 01% ． The simulation of the double line change under high speed and low road conditions shows that the time-varying LQR control system based on genetic algorithm ensures a better trajectory tracking ability of the vehicle，and the maximum lateral displacement error control effect is improved by 44% ，compared with that of front-wheel steering vehicles．