Patent ID: 8886410
Filing Date: 2014-11-11
Classification: B62D

Abstract:
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.