The present invention relates to a device and method for ascertaining the steering angle (α3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels showing a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a specific track width (b1), wherein by means of an ascertained wheel velocity difference of the two driven wheels a yaw rate (ψ) and a real circle radius (r1) of the driven wheel on the inside of the curve are ascertained. It is then possible to ascertain the steering angle (α) from these values by way of the geometrical relationship of wheelbase (a1) and track width (b1) of the machine.


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    Title :

    Method and device for ascertaining the steering angle of a steerable machine


    Contributors:
    CHRIST HERMANN (author) / HAGEN IRINA (author) / NICK MORITZ (author)

    Publication date :

    2016-02-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge



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