| 摘要 |
A method for controlling steering orientation of a monitored vehicle including at least two steering wheels each of which is steerable independently of the other at an angle of natural orientation, the wheels belonging to a train of the vehicle. The method collects a lateral acceleration setpoint, and computes orientation setpoints of each steering wheel based on the lateral acceleration setpoint. During the operation for computing the orientation setpoints of the steering wheels, the orientation setpoints of each of the wheels of the train are computed such that the difference between the grip levels of the wheels relative to the ground is less than a threshold value.
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