Trajectory tracking with four-wheel steering and steering limits

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...

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Bibliographic Details
Main Authors Zlotnik, David Evan, Funke, Joseph
Format Patent
LanguageEnglish
Published 31.05.2022
Subjects
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
MOTOR VEHICLES
PERFORMING OPERATIONS
TRAILERS
TRANSPORTING
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Summary: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.
Bibliography:Application Number: US202016917498