ALL-WHEEL STEERING CONTROL ALGORITHM FOR ARTICULATED VEHICLES

摘要

A whole wheel steering control algorithm for refraction vehicles is provided that the radius of rotation of the refraction vehicles can be minimized. A whole wheel steering control algorithm for refraction vehicles comprises as follows. The steering angles of second and third axis are controlled by using the angle of refraction generated in the car body as the operator of the refraction vehicles steers the first axis. The steering angles of second and third axis are induced by using the bicycle model. The steering angle of second and third axis are controlled by the second and third axis steering electronic control units(70,80).