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Method of controlling rear wheels of a four-wheel steering motor vehicles

  • US 5,019,982 A
  • Filed: 09/21/1989
  • Issued: 05/28/1991
  • Est. Priority Date: 09/22/1988
  • Status: Expired due to Fees
First Claim
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1. A method of controlling steering operations of rear road wheels of a four-wheel steering motor vehicle, comprising the steps of:

  • detecting a steering angle of the vehicle'"'"'s front road wheels;

    detecting a lateral acceleration of the vehicle;

    determining a steer angle ratio of a rear wheel steering angle to a front wheel steering angle dependent on the detected lateral acceleration;

    determining a rear wheel steering angle dependent on said detected front wheel steering angle and said determined steer angle ratio; and

    steering the vehicle'"'"'s rear road wheels according to the determined rear wheel steering angle;

    said steer angle ratio being further determined so as to be in a range defined by;

    
    
    space="preserve" listing-type="equation">f1(yo)-g(yo)·

    f2(yo)≧

    0whereyo=vehicle lateral acceleration while the motor vehicle is making a steady-state turn;

    g(yo)=steer angle ratio;

    f1(yo)=Cfo/mf;

    f2(yo)=Cro/mr;

    Cfo, Cro are equivalent cornering powers of the tires of the front and rear road wheels while the motor vehicle is making a steady-state turn; and

    mf, mr are equivalent masses at the front and rear axles of the motor vehicle.

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