Steering control methods and apparatus

摘要

The steering stability of a moving vehicle is maintained by measuring an actual yaw rate of the vehicle and determining a desired yaw rate of the vehicle. An output signal is produced in response to a comparison of the actual and desired yaw rates. The angle of steerable wheels of the vehicle is controlled in response to the output signal in a manner tending to substantially conform the actual yaw rate to the desired yaw rate, thereby maintaining vehicle stability. The steerable wheels are steered by a steering wheel, and are independently steered in response to the output signal. Alternatively, the steerable wheels are steered solely in response to the output signal.