| 摘要 |
#CMT# #/CMT# The vehicle (1) has front wheels (2) steerable by a steering wheel (3), and rear wheels (4) automatically steerable by an actuator. A control device (6) controls the steering of the rear wheels, where a deviation of an actual-steering angle from a reference-steering angle is determined for reverse parking process. The reference-steering angle is determined based on a determined reference-parking trajectory. The rear wheels are moved depending on the determined deviation for partial correction of the deviation. A display device displays the reference-steering angle to a driver. #CMT#USE : #/CMT# Motor vehicle i.e. car (from drawings). #CMT#ADVANTAGE : #/CMT# The reference-steering angle is determined based on the reference-parking trajectory, and engages the front wheels at each point of the trajectory, so that the vehicle optimally runs. The reference-trajectory is calculated without considering the steerability of the rear wheels, thus allowing the motor vehicle to assist the driver with reverse driving for parking. #CMT#DESCRIPTION OF DRAWINGS : #/CMT# The drawing shows a bottom view of a motor vehicle. 1 : Motor vehicle 2 : Front wheels 3 : Steering wheel 4 : Rear wheels 5 : Actuator 6 : Control device. |
