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Rear steering control with longitudinal shift in ackerman center

  • US 20020029102A1
  • Filed: 08/31/2001
  • Published: 03/07/2002
  • Est. Priority Date: 09/01/2000
  • Status: Active Grant
First Claim
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1. A method of determining a steering angle for a rear wheel in a vehicle steering system comprising the steps:

  • measuring vehicle speed;

    deriving a desired lateral acceleration;

    measuring an actual lateral acceleration;

    if the derived desired lateral acceleration and the measured actual lateral acceleration are in the same direction, (a) determining a dynamic yaw center on a vehicle longitudinal axis in response to the measured vehicle speed, (b) determining a cornering radius, (c) determining a rear wheel steering angle corresponding to a wheel direction perpendicular to a straight line connecting the center of the rear wheel to an instantaneous Ackerman center defined at a distance of the cornering radius from the dynamic yaw center in a direction perpendicular to the vehicle longitudinal axis.

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