| 摘要 |
The disclosure concerns a wheel steering system (200) for controlling a steering angle (βι, β2) of a second pair of steerable wheels (121, 122) of a vehicle (101) that is suitable for transporting a load. The vehicle comprises at least a first and a second pair of steerable wheels (1 1 1, 112, 121, 122) and a first and second pair of non steerable wheels (131, 132, 141, 142). The wheel steering system (200) comprising a steering angle detection device (201) for detecting at least one vehicle steering angle (a, ai, 02), and control system (204) configured to determine a steering geometry of the vehicle (101) and to control the steering angle (β^ β2) of at least each of the second pair of steerable wheels (121, 122) based on at least the at least one detected steering angle (a, a-i, a2) and the determined steering geometry of the vehicle (101). |
