| 摘要 |
A control system controls the speed of the driven wheels of a vehicle having an operator controlled steering wheel, an operator controlled speed command device, steerable wheels and driven wheels. The control system includes a steering angle sensor coupled to the steering input member and generating a steering angle signal, a speed command sensor coupled to the speed command device and generating a speed command signal, and a control unit. The control unit generates driven wheel speed command signals as a function of the steering angle signal, a wheelbase of the vehicle, a distance between the driven wheels, and the speed command signal. The magnitude of the speed command signal is limited to a calculated limit value which is a function of the wheelbase of the vehicle, a distance from a driven wheel axle of the vehicle forward to a center of gravity of the vehicle, a value representing a maximum allowable centripetal acceleration, and the steering angle signal.
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