Patent ID: 8160776

Claim:
A steering apparatus for a vehicle including a steering input device, front and rear steering output devices, and a steering mechanism for steering the front and rear steering output devices, the steering apparatus comprising: a measurement section arranged to measure a steering input of the steering input device; and a control section configured to: set a desired turning radius of the vehicle in accordance with the measured steering input; set a desired heading angle of the vehicle with respect to a path of the vehicle in accordance with the desired turning radius; set a desired position of a center of rotation about which the vehicle is to rotate for changing the heading angle of the vehicle with respect to the path of the vehicle; set the desired turning behavior in accordance with the desired turning radius, the desired heading angle, and the desired position of the center of rotation; set desired front and rear steering outputs in accordance with the measured steering input and the desired position of the center of rotation; and control the steering mechanism in accordance with the desired front and rear steering outputs.