VERFAHREN UND VORRICHTUNG ZUM STEUERN DER LENKUNG VON FAHRZEUGEN MIT VIERRADLENKUNG

摘要

A steering control method for vehicles with four-wheel steering, characterized by detection of either the steering force, the lateral force or the lateral slip force of the front-wheels and the rear-wheels. The detected forces of the front-wheels and the rear-wheels are assumed to be proportional to the respective lateral slip angles. The front-wheel steering angle is then controlled by calculating and adding to the front-wheel steering angle a compensation steering angle proportional to the front-wheel lateral slip angle. The rear-wheel steering angle is then controlled to be proportional to the rear-wheel lateral slip angle. This control method allows the front and rear steering coefficients to be variably and independently controlled, e.g. to provide improved vehicle behaviour when the steering input is abrupt. <IMAGE>