US 12,466,475 B2
Method to control a road vehicle with rear steering wheels
Alessandro Flumeri, Modena (IT); and Fabrizio Vasta, Modena (IT)
Assigned to FERRARI S.P.A., Modena (IT)
Filed by FERRARI S.p.A., Modena (IT)
Filed on Apr. 20, 2022, as Appl. No. 17/724,793.
Claims priority of application No. 102021000012170 (IT), filed on May 12, 2021.
Prior Publication US 2022/0363311 A1, Nov. 17, 2022
Int. Cl. B62D 6/00 (2006.01); B62D 17/00 (2006.01)
CPC B62D 6/002 (2013.01) [B62D 6/001 (2013.01); B62D 17/00 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method to control a road vehicle (1) with rear steering wheels (3); wherein the road vehicle (1) comprises two actuators (15), which are independent of one another and each actively controls the variation of a steering angle (α) of a corresponding rear wheel (3) so that each actuator (15) can impart to its own rear wheel (3) a steering angle (α) that is different from a steering angle (α) of the other rear wheel (3); the method comprises, while driving along a curve, the steps of:
determining a threshold value (TH) different from an actual steering angle (α) of the rear wheels (3);
determining a desired steering angle (αTGT) for the rear wheels (3);
comparing the desired steering angle (αTGT) with the threshold value (TH);
in response to the desired steering angle (αTGT) being greater than the threshold value (TH), applying to both rear wheels (3) a same actual steering angle (α) that is equal to the desired steering angle (αTGT); and
in response to the desired steering angle (αTGT) being smaller than the threshold value (TH), applying to a rear wheel (3) on the outside of the curve an actual steering angle (α) greater than the desired steering angle (αTGT) and applying to a rear wheel (3) on the inside of the curve a zero actual steering angle (α).