| 摘要 |
<p>A steering system used in a ground-engaged vehicle having independently motorized steerable wheels, where a steering assistance is provided by generating a differential torque in the motors for producing steering assistance forces, is disclosed. The steering assistance is provided, when a torque is applied on the steering wheel, by generating the differential torque by the motors and thus producing steering assistance forces due to virtual lever arms defined between the mean contact point of a wheel with the ground, and the virtual intersection with the ground of a prolongation of the pivot axis of the wheel.</p> |
