Steering apparatus, automotive vehicle with the same, and steering control method

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:na measurement section arranged to measure a steering input of the steering input device; anda control section configured to:nset 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; andcontrol the steering mechanism in accordance with the desired front and rear steering outputs.

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:nmeans for measuring a steering input of the steering input device;means for setting a desired turning radius of the vehicle in accordance with the measured steering input;means for setting a desired heading angle of the vehicle with respect to a path of the vehicle in accordance with the desired turning radius;means for setting 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;means for setting the desired turning behavior in accordance with the desired turning radius, the desired heading angle, and the desired position of the center of rotation;means for setting desired front and rear steering outputs in accordance with the measured steering input and the desired position of the center of rotation; andmeans for controlling the steering mechanism in accordance with the desired front and rear steering outputs.

An automotive vehicle comprising:na steering input device;front and rear steering output devices;a steering mechanism for steering the front and rear steering output devices;a measurement section arranged to measure a steering input of the steering input device; anda control section configured to:nset 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; andcontrol the steering mechanism in accordance with the desired front and rear steering outputs.

A steering control method 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 control method comprising:nmeasuring a steering input of the steering input device;setting a desired turning radius of the vehicle in accordance with the measured steering input;setting a desired heading angle of the vehicle with respect to a path of the vehicle in accordance with the desired turning radius;setting 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;setting the desired turning behavior in accordance with the desired turning radius, the desired heading angle, and the desired position of the center of rotation;setting desired front and rear steering outputs in accordance with the measured steering input and the desired position of the center of rotation; andcontrolling the steering mechanism in accordance with the desired front and rear steering outputs.