A four-wheel steering control device for independently controlling steering of each of first to fourth wheels disposed in a vehicle. A commanded steering angle acquiring part acquires first to fourth commanded steering angles for first to fourth wheels of a vehicle. A four-wheel turning control rate calculating part determines first to fourth residual angles, by which the first to fourth wheels realize the first to fourth commanded steering angles, from current steering angles and calculate first to fourth turning control rates of the first to fourth wheels on basis of the first to fourth residual angles determined. A control part independently controls steering of each of the first to fourth wheels using the first to fourth turning control rates calculated.
FOUR-WHEEL STEERING CONTROL DEVICE AND METHOD
2023-02-23
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle
European Patent Office | 2023
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