METHOD FOR CONTROLLING STEERING OF A VEHICLE

摘要

A method for controlling steering of a vehicle (1) is provided, the vehicle (1) defining two or more steerable axes, and the vehicle (1) comprising a number of wheels (2), each of said wheels (2) being associated with one of said steerable axes in such a manner that steering of a given wheel (2) is obtained by steering the steerable axis associated therewith. The method comprises providing a first, a second and a third steering input. The first steering input defines a point of intersection between a virtual steering axis (4) and a longitudinal centre axis defined by the vehicle (1). The second steering input defines an angle between the virtual steering axis (4) and the longitudinal centre axis. The third steering input defines a position of a centre of rotation (5) along the virtual steering axis (4). A position for each of the steerable axes defined by the vehicle (1) is calculated, which causes the vehicle (1) to rotate about the centre of rotation (5) defined by the first, second and third steering inputs, and each of the steerable axes is moved to the calculated position.

主权项

1. A method for controlling steering of a vehicle, the vehicle defining two or more steerable axes, and the vehicle comprising a number of wheels, each of said wheels being associated with one of said steerable axes in such a manner that steering of a given wheel is obtained by steering the steerable axis associated therewith, the method comprising the steps of:
providing a first steering input, said first steering input defining a point of intersection between a virtual steering axis and a longitudinal centre axis defined by the vehicle, providing a second steering input, said second steering input defining an angle between the virtual steering axis and the longitudinal centre axis, providing a third steering input, said third steering input defining a position of a centre of rotation along the virtual steering axis, calculating a position for each of the steerable axes defined by the vehicle, which causes the vehicle to rotate about the centre of rotation defined by the first, second and third steering inputs, and moving each of the steerable axes to the calculated position.