REAR WHEEL STEERING METHOD OF MULTI-ARTICULATED VEHICLE

摘要

PURPOSE: A method of setting a steering angle of a rear wheel for a multi-articulated vehicle is provided to enable the steering angle of a rear wheel to be optimally set to be able to reduce the rotating radius of a vehicle. CONSTITUTION: A method of setting a steering angle of a rear wheel for a multi-articulated vehicle is as follows. Using the virtual fixed axis of a preceding vehicle and the virtual fixed axis of a following vehicle, which are extended to have the same rotating center, the steering angle of the rear wheel of the following vehicle is calculated. The steering angle of a rear part is calculated based on a bicycle model based algorithm. The calculation of the steering angle of two axes and three axes begins with an ideal pivoting concept. The center of the extended lines of the virtual fixed axes(S1,S2), which exist on the preceding and following vehicles of the multi-articulated vehicle, is determined as the rotating center(TC).