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Methods of controlling four-wheel steered vehicles

  • US 8,886,410 B2
  • Filed: 02/13/2013
  • Issued: 11/11/2014
  • Est. Priority Date: 02/13/2013
  • Status: Expired due to Fees
First Claim
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1. A method for controlling a vehicle, the vehicle comprising a pair of steerable front wheels and a pair of steerable rear wheels, the method comprising:

  • detecting a front wheel steering angle of at least one of the steerable front wheels;

    detecting a rear wheel steering angle of at least one of the steerable rear wheels;

    determining an overall Ackerman angle;

    determining an effective rear wheel steering angle value from the rear wheel steering angle and a scaling factor;

    determining a double Ackerman geometry steering angle value based upon the overall Ackerman angle and an Ackerman scaling factor;

    determining a feed-forward lateral acceleration value based upon the front wheel steering angle, the effective rear wheel steering angle value, and the double Ackerman geometry steering angle value, the feed-forward lateral acceleration value facilitating feed-forward control of the steerable front wheels and the steerable rear wheels; and

    controlling operation of the steerable front wheels and the steerable rear wheels in response to the feed-forward lateral acceleration value.

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