Foley & Lardner, Schwartz, Jeffery, Schwaab, Mack, Blumenthal & Evans
Steering control system for wheeled vehicle
 A system for controlling the steering angle of the rear steerable wheels of a vehicle senses the front wheel steering angle, the vehicle speed and a manually selected mode signal for a new mode of two driving modes. A microcomputer containing models for the two modes determines a target yaw rate for the selected mode from which is calculated a target rear wheel steering angle to control rear wheel steering. However, the system is prevented from calculating a steering angle for the new mode when it would cause an unsafe abrupt change in vehicle behavior as when the rear wheel steering angle is not nearly zero which is equivalent to the sensed front steering angle, the target yaw rate and the lateral acceleration all being nearly zero. 
Nissan Motor Company, Limited
B B
B62D B62D
inventional inventional
Hideo Ken
Ito Ito