Lane, Aitken & Kananen
Method and a system for steering a wheeled vehicle
 A method and system for steering a wheeled vehicle having a pair of rear steering road wheels, a pair of front steering road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering wheels, wherein the pair of rear steering wheels is steered through an angle .delta.r proportioned at a ratio k to the angle .delta.f through which the pair of front steerable road wheels is steered and wherein the ratio k is given by EQU (A-B.multidot.V.sup.2)/(C-D.multidot.V.sup.2) wherein V is a detected vehicle speed and A, B, C and D are predetermined parameters, and .delta.f is given by EQU e.multidot..delta.f.sub.D /(1+k) when .delta.f.sub.D is the angle through which the steering wheel is turned and e is a constant. 
Nissan Motor Company, Limited
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B62D B62D B62D B62D B62D
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Hideo Namio
Ito Irie