Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.
TRAJECTORY DETERMINATION FOR FOUR-WHEEL STEERING
2021-12-30
Patent
Elektronische Ressource
Englisch
TRAJECTORY TRACKING WITH FOUR-WHEEL STEERING AND STEERING LIMITS
Europäisches Patentamt | 2021
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