Abstract: An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same.

Abstract: An arrangement and a method are disclosed for driving and steering an engine driven vehicle of the type m which left and right hand wheels 120L, 120R are respectively driven from the engine through left and right hand transmissions 122L, 122R and a steering effect is exerted by changing the ratio of one transmission relative to the other. According to the invention a follower is operatively coupled to at least one of the transmissions and is movable circumferentially about an axis by means of a driver actuable steering control to change the relative speeds of the two driven wheels and radially with respect to the axis by means of a driver actuable speed control to increase/decrease the speeds of the two driven wheels in unison.

Abstract: Drive assemblies and related methods are provided particularly suited for a snowblower. The drive assemblies include a transmission wheel disposed about a shaft and rotatably movable for rotating at least one wheel. The transmission wheel has a contact surface. The drive assemblies also include a drive pulley having a drive surface. The drive pulley is rotatable and configured for causing the transmission wheel to rotate when the drive surface and the contact surface of the transmission wheel are in contact. At least one brake clutch is disposed about an end of the shaft to provide independent control to the at least one wheel.

Abstract: A method for compensating a steering system exhibiting dead-zone characteristics estimates the dead-zone parameters of the steering system and establishes a dead-zone inverse function utilizing the estimated parameters. The dead-zone inverse is utilized to transform steering orders in the dead-zone. Parameters of the dead-zone inverse are continuously up-dated with the utilization of the transformed steering order, the existing dead-zone parameters, and the present heading.

Abstract: In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.

Abstract: A device for stabilizing traction in a zero turn mower having a riding frame, a pair of front caster-type wheels, a primary right-side rear wheel and a primary left-side rear wheel, and an asymmetric drive system to said rear wheels for driving and steering, comprising: a) auxiliary right-side and left-side rear wheels rotatably mounted on stub axles positioned rearwardly of said primary rear wheels; b) a first rigid member extending between and pivotally coupled to said auxiliary right-side rear wheel and said primary right-side rear wheel; c) a second rigid member extending between and pivotally coupled to said auxiliary left-side rear wheel and said primary left-side rear wheel; d) a first drive coupling member for driving said auxiliary right-side rear wheel in tandem with said primary right-side rear wheel; and e) a second drive coupling member for driving said auxiliary left-side rear wheel in tandem with said primary left-side rear wheel.

Abstract: An omni direction vehicle with a frame having a round surface about its perimeter with no apparatus mounted on the frame extending beyond the perimeter. Two independent drive wheels located on an axis through the center of the frame are mounted at the same distance from a central vertical axis through the frame. Each wheel is powered independently of the other and can rotate at variable speeds in either direction. The vehicle is capable of movement in any direction by rotating the axis of the drive wheels to a position which is perpendicular to the desired direction of travel. The vehicle can spin about its vertical axis such that the axis of the drive wheels can be oriented at any direction without changing the original footprint of the space that the frame occupies over the ground. Thus, the vehicle requires a zero turning radius and requires only the space it occupies to change its forward orientation.

Abstract: A system to control a dynamic system, comprising actuators, sensors, a control module and a plurality of observers to monitor the state of the actuators is disclosed. Certain embodiments of the invention comprise a global failure detection and identification module, a baseline controller, and a retrofit controller. Methods to control the dynamic system are disclosed. Some of the methods utilize a second-order mathematical model of the dynamics of the actuators. In some embodiments, this mathematical model is parameterized by a loss-of-effectiveness (LOE) parameter and a lock-in-place (LIP) parameter. The method may further comprise the step of detecting disturbance conditions and structural damage conditions.

Abstract: A method for measuring an absolute steering angle of a steering shaft for a vehicle using two rotatable bodies that rotate together with the steering shaft of the vehicle at a predetermined rotation ratio.

Abstract: A method for measuring the steering angle of steering shaft for vehicle, wherein the steering angle of the steering shaft is measured by using two rotors rotating at a determined RPM ratio according to the rotation of the steering shaft.

Abstract: An electric drive system is provided. The electric drive system includes a first output member, a second output member, and an electric motor that includes an output shaft having an axis of rotation. The output shaft is operatively engaged with the first and second output members to rotate the first and second output members. A differential steering system is disposed between the electric motor and the first and second output members. The differential steering system includes at least one planetary gear assembly that has an axis of rotation that substantially aligns with the axis of rotation of the output shaft. A steering motor is operatively engaged with the at least one planetary gear assembly and is operable to modify the rotational speed of the at least one planetary gear assembly to thereby adjust the rotational speed of one of the first and second output members relative to the other of the first and second output members.

Abstract: Working-machine steering apparatus includes an assist mechanism for reducing a force necessary for operating any one of left and right operating members. First and second cord members, connected to the left and right operating members, are wound on first and second pulleys in a U shape with given pre-slack. As a human operator operates any one of the left and right operating members, the corresponding left or right cord member is brought into close contact with the first or second pulley, so that rotation of a drive source is transmitted to the first or second pulley via a rotation shaft. The necessary operating force of the left and right operating members can be reduced using the rotation of the drive source via the assist mechanism.

Abstract: A system for cutting slots in pavement has a first slot cutting vehicle with a cutting assembly having several pairs of rotating blades mounted to the first vehicle and vertically adjustable relative to the vehicle. A lift system moves the first vehicle between a first position wherein the lift is not engaging the ground and a raised position wherein the lift engages the ground and supports the vehicle. A slider assembly uses a hydraulic ram to move the vehicle horizontally on rails relative to the lift when the vehicle is at the raised position. In operation, the vehicle is lifted and the cutting assembly lowered so the blades engage the pavement. The vehicle slides back and forth so the blades cut opposed pairs of sides of slots. Material between each slot is removed with a second cutting vehicle having a cutting assembly with radial blades spaced the same distance apart as the blade pairs of the first vehicle.

Abstract: A method for determining a control standard of an active steering device (10) of a vehicle (1) controllable by a control device (11). A driving dynamic of the vehicle (1) is influenced according to the control standard. The control standard is determined according to a nominal yawing rate calculated at least with reference to different actual operating parameters of the vehicle and one dynamic vehicle state determined according to the nominal yawing rate and actual operating state parameters. The control standard is superimposed on a steering transit angle preset by a driver so that an existing actual yawing rate is changed in direction of the nominal yawing rate.

Abstract: A visual steering wheel direction indicator for a self-propelled machine. The indicator may additionally exhibit an indicator of the amount that the steering wheel must be turned in order to reach neutral. The indicator may be integrated into a neutral start system.

Abstract: A steering ratio control system of a vehicle includes a variable steering ratio mechanism variably adjusting a steering ratio of a steer angle at left and right steered road wheels to a steering-wheel rotation angle, and a braking/driving force control unit individually controlling braking force and/or driving force of the left and right steered wheels. A steering ratio control unit determines a reference steering ratio based on a vehicle's driving state. The steering ratio control unit calculates a steering-ratio correction value needed for canceling torque steer resulting from a difference in braking force and/or driving force between the left and right steered wheels. A final steering ratio is determined based on both of the reference steering ratio and the steering-ratio correction value to drive the variable steering ratio mechanism responsively to the final steering ratio reflecting the steering-ratio correction value.

Abstract: A system and method of controlling an automotive vehicle having a controllable suspension component includes applying brake-steer to at least one wheel, generating a suspension control signal in response to the brake-steer signal, and allowing at least one wheel coupled to the suspension component to articulate to reduce the turning radius of the vehicle.

Abstract: A snowthrower has independent wheel drive trains to allow steering by clutching one drive train while unclutching the other drive train. The clutch in each drive train comprises a plurality of pivotal pawls carried on a drive member with the pawls pivoting in a plane that is substantially perpendicular to the rotational axis of the drive member. The pawls have heads that project through one face of the drive member and tails located on an opposite face of the drive member. The heads of the pawls can engage or disengage notches that are fixed to the driven member to clutch or unclutch the drive and driven members. A shift member axially presses on the tails of the pawls to disengage the heads of the pawls from the driven member. The shift member is selectively moved by an operator using a steering lever on the snowthrower.

Abstract: A transmission for speed changing and steering of a vehicle comprises a first HST and a first differential for speed changing and a second HST and a second differential for steering. The first HST is a combination of a hydraulic pump and motor. The pump is driven by an engine and the motor is drivingly changeable by operation of a speed change pedal. Output power from the motor is transmitted into a pair of first differential output shafts as axles through the first differential. The second HST is a combination of a hydraulic pump and motor. The second pump is driven by output power from the first HST and the second motor is drivingly changeable by operation of a steering wheel. A pair of second differential output shafts are rotated in opposite directions by output power of the motor, so that when turning, the first differential output shaft on the opposite side of the turning direction is accelerated.

Abstract: In a displacement-control mechanism for a vehicle hydrostatic transmission system including a traveling hydrostatic transmission (HST) and a steering hydrostatic transmission (HST), a steering link member is extended from a steering displacement-control device of the steering HST, and connected at an end thereof to the traveling-direction switching rotary member interlocking with a traveling manipulator for setting traveling speed and direction of the vehicle or with a traveling displacement-control device of the traveling HST. The traveling-direction switching rotary member is rotatable so as to be switched between a forward-traveling position and a backward-traveling position depending on whether the traveling manipulator is operated for forward traveling or backward traveling.

Abstract: A transmission drive system (TDS) has two AC induction traction motors, each operatively coupled to two semi-independent coaxial traction shafts, and two AC induction steer motors coaxially mounted on a common steer axis parallel to the coaxial traction shafts. A steering gear assembly, preferably between the traction and steering motors, has a common steer input shaft operatively connected to the two AC induction steering motors. Two planetary gear sets have the two traction shafts being operatively connected with one of a two planet gear carriers, or two ring gears, respectively. The other of the planet gear carriers or the ring gears are operatively connected with each other. Two offset gears mounted to the steer input shaft and meshing with two sun gears, respectively, including a reversing idler gear interposed between one of the two offset gears and one of the two sun gears.

Abstract: A steering mechanism 1 is configured as a steering mechanism which allows an arbitrary relationship to be set between a steering mechanism unit 2 through which steering of a driver is input and a turning mechanism unit 3 for turning wheels 5, 5 to be turned, those units being controlled by an ECU 30 on a steer-by-wire basis. When alarm control to wake up the driver is performed according to a determination indicating a reduction of the wakefulness of the driver, the ECU 30 suspends the steer-by-wire control to control the turning mechanism unit 3 independently of the steering mechanism unit 2. As a result, even when an improper steering input is provided by the driver who is at a low level of wakefulness, it is possible to prevent such mis-steering from being reflected in driving.

Abstract: The invention relates with the omni-directional toy vehicle that can move in all directions of forward, backward, rotational, left and right movement by driving manually the omni-directional wheels installed at the vehicle and combining their rotational directions. The vehicle characterized by comprising a frame composing the body of the vehicle, at least three rotating axles which are installed at the lower part of the frame with a rotatable mechanism, at least three omni-directional wheels which are connected to the axles, at least three driving element which are connected to the axles and drive the omni-directional wheels and a seat located at the upper part of the frame. The vehicle can be driven and steered simultaneously by means of driving combinations of each omni-directional wheel without any additional steering element and make an operator be interested in the manual operation of omni-directional wheels.

Abstract: An electric vehicle has a control unit having a decelerating control function of decelerating an electric motor disposed on a side of a vehicle body corresponding to a turning direction of the electric vehicle, and an accelerating control function of outputting an accelerating control signal for performing acceleration control to accelerate the electric motor when operation of the electric vehicle is switched from a first traveling mode to a second traveling mode. When the electric motor has a speed not exceeding a predetermined reference speed, the accelerating control function performs the acceleration control such that a level of the accelerating control signal is increased abruptly for a temporary time from the switching of the operation of the electric vehicle from the first traveling mode to the second traveling mode.

Abstract: A work vehicle with a hydrostatic steering system is disclosed which is capable of performing optimum control of the absorption torque of a hydraulic pump according to running load; capable of preferentially ensuring turning performance and implement speed when running load is relatively low; and capable of ensuring desired turning performance even when running load is relatively high. To this end, a bulldozer with a hydrostatic steering system, wherein the power of a hydraulic motor driven by pressure oil fed from a hydraulic pump operated by an engine is transmitted to right and left crawler tracks through a differential steering means composed of planetary gear trains etc., is designed to control the absorption torque of the hydraulic pump according to the speed ratio of a torque converter calculated by a speed ratio operation unit.

Abstract: A system and method of controlling an automotive vehicle includes determining a steering wheel angle, determining a steering wheel direction, determining a steering wheel angular rate and applying brake-steer as a function of steering wheel angle, steering wheel angular rate and steering wheel direction.

Abstract: A method and a device for operating an engine of a vehicle, which allow a power demand of a steering device supported by the engine To be dynamically compensated for. In this context, a derivative-action signal for adjusting an output variable to be output by the engine is generated as a function of a steering action.

Abstract: An elastic support assembly for an electric power steering apparatus in which a worm shaft is supported movably in a rotation axis direction through the elastic support assembly includes: a pair of first and second members relatively moving in the rotation axis direction according to a movement of the worm shaft; an elastic body provided between the first and second members in the rotation axis direction; and a cover which covers an outer periphery part of the elastic body from a radial direction of the worm shaft and is connected to the first member.

Abstract: A work vehicle comprises: a plurality of wheels; a vehicle body supported by the wheels; a transmission case provided on the vehicle body, the transmission case having a first case portion and a second case portion and a middle portion extending between respective lower portions of the first and second case portions, the transmission case being divided by an abutting surface extending in a vertical direction of the vehicle; a hydraulic device associated with the transmission case; a hydraulic pump supplying a hydraulic fluid to the hydraulic device; an oil path formed in a surface of the abutting surface, one end of the oil path being formed in the first case portion as an oil port for the hydraulic device, and the other end of the oil path opening to the second case portion; and a hydraulic fluid outlet provided to the first case and connected to the hydraulic pump to supply hydraulic fluid to the hydraulic pump.

Abstract: An active rear-wheel vehicle steering control system that employs both open-loop and closed-loop control, where the open-loop and closed-loop control include adaptive compensation sub-systems that compensate for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front-wheel cornering compliance and rear-wheel cornering compliance based on a front-wheel steering angle signal, a rear-wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, vehicle yaw rate acceleration, side-slip velocity and side-slip velocity rate, all based on the vehicle speed and vehicle dynamic parameter changes.

Abstract: A hydrostatic agricultural tractor has front ground wheels mounted on the frame at fixed angles parallel to each other and parallel to a center line of the frame and rear ground wheels mounted on a respective castor, with each of the front ground wheels being driven by a respective drive motor which allows variable speed in both the first and second directions such that steering of the tractor is effected by a differential in speed between the front wheels with the rear wheels following the steering in a castoring action. A pair of damper cylinders is provided each connected between a bracket on a rear axle of the frame and a lever in the castor plane of the castor so as to provide a damping force tending to restrict rotation of the respective second wheel about the respective vertical pivot axis with the damping force at a maximum value when the rear wheels are parallel to the center line in either the forward or reverse directions.

Abstract: A hydraulically driven and steered vehicle comprises a pair of axles differentially connected to each other, a traveling HST, a steering HST, a speed control operation device operative connected to a movable swash plate of the traveling HST, and a steering operation device operatively connected to a movable swash plate of the steering HST. A speed control linkage is interposed between the steering operation device and the swash plate of the steering HST. A hydraulic actuator and a hydraulic valve are connected to the steering control linkage so as to reverse the relative movement direction of the swash plate of the steering HST to the movement direction of the steering operation device depending upon the reversing of forward and backward traveling direction.

Abstract: A control system for a small work vehicle such as a compact track propelled loader has a control handle that is mounted onto a swinging support plate. The support plate swings about a vertical axis positioned forwardly of the control handle, and the control handle is mounted on the support plate about a horizontal axis. Linkages are provided between the control handle and the pivotal mounting about the upright axis to respective motor control levers for operating motors on opposite sides of the vehicle for steering and propelling the vehicle. Moving the control handle about the horizontal axis causes a drive selectively in forward and reverse direction, and moving the support plate and the control handle about the vertical axis provides differential movement for steering control.

Abstract: A transmission for speed changing and steering of a vehicle comprises a first HST and a first differential for speed changing and a second HST and a second differential for steering. The first HST is a combination of a hydraulic pump and motor. The pump is driven by an engine and the motor is drivingly changeable by operation of a speed change pedal. Output power from the motor is transmitted into a pair of first differential output shafts as axles through the first differential. The second HST is a combination of a hydraulic pump and motor. The second pump is driven by output power from the first HST and the second motor is drivingly changeable by operation of a steering wheel. A pair of second differential output shafts are rotated in opposite directions by output power of the motor, so that when turning, the first differential output shaft on the opposite side of the turning direction is accelerated.

Abstract: An absolute steering angle of a steering shaft for a vehicle is measured using rotatable bodies that rotate together with the steering shaft at respective predetermined rotation ratios. A ?M? value is obtained by measuring a relative rotational angle ?? of a first rotatable body and a ?M? value is obtained by measuring the relative rotational angle ?? of a second rotatable body. ?C's are obtained by calculating relative rotational angles ?'s of the second rotatable body corresponding to the ?M? value, using the relation between ?? and ??. A frequency i-value of the first rotatable body is obtained by comparing the ?Cs to the ?M? value. An absolute steering angle ?1 of the steering shaft is obtained based on the relation between absolute rotational angles ? and ?, after ? is obtained using the i-value.

Abstract: An outboard motor steering system for an outboard motor mounted on a stern of a boat includes a mounting unit having a swivel shaft connected to a propeller to turn the propeller, and a swivel case rotatably accommodating the swivel shaft. A vibration attenuator is installed at a portion connecting an outboard motor main unit and the mounting unit and attenuating vibration of the outboard motor main unit to be transmitted to the mounting unit by causing the outboard motor main unit to displace relative to the mounting unit. In the system, displacement absorbers are installed at a portion connecting one of a main body and an output end of a steering actuator to the outboard motor main unit and another portion connecting the other of the main body and the output end to the mounting unit.

Abstract: A device of a cart includes a control, a speed regulating potentiometer, a microprocessor, a digital-to-analogue converter, a motor controlling unit, and a switch; the control is angularly displaceable and near to handlebars of the cart; the potentiometer is connected to the control so as to output a voltage, which depends on displacement of the control; the microprocessor can produce digital signals according to the output voltage of the potentiometer; the converter is used for converting the digital signals into analogue voltage; the motor controlling unit is used for making a motor run at a variable-speed mode, at which mode the speed of the motor will depend on output voltage of the converter; immediately after the rider presses the switch, the microprocessor will ignore output voltage of the potentiometer, and start and continue giving a same digital signal to the converter so that the motor starts running at constant speed.

Abstract: A method and apparatus for controlling torque delivery independently, i.e., asymmetrically, to the two rear axles and wheels of a vehicle with front wheel drive provides improved vehicle handling and performance. The apparatus includes a prime mover, transaxle, power takeoff, rear axle having a pair of independently controllable modulating clutches driving respective rear axle and wheels, various vehicle sensors and a microprocessor. The method, embodied in software in the microprocessor, senses wheel speeds, yaw rate, lateral acceleration, throttle position and steering wheel angle, determines various reference values and oversteer and understeer conditions and activates one or both of the two clutches.

Abstract: In an electric power steering system, during initial processing after an ignition switch is turned on, when a main CPU completes calculation of an offset voltage, it sends an offset voltage calculation request signal to a sub CPU. When the time from sending the offset voltage calculation request signal until the main CPU receives an offset voltage calculation completion signal from the sub CPU is within a predetermined period of time, it is determined that a communication function between the main CPU and the sub CPU and an offset voltage calculation function of the sub CPU are normal, and at the same time it is possible to maintain synchronism of the offset voltage calculation in the main CPU with the offset voltage calculation in the sub CPU. Thus, it is possible to carry out in a short time a check of the communication function between the main CPU and the sub CPU, while maintaining the synchronism in the offset voltage calculations by the two CPUs when calculating an actual motor current.

Abstract: Steering angle is determined by the combined use of a potentiometer and a rotary encoder, and the correction of the error in the determination of the steering angle based on the time-dependent change of the potentiometer.

Abstract: A drive coupling mechanism for use in connecting an axle or other drive shaft to a wheel hub for use in a snow thrower or other vehicle, or in other applications where a driven wheel is engaged to a drive shaft. A slider member is mounted on and driven by the axle, and cooperating engagement structures located on the slider and the inner surface of the wheel hub are used to engage and disengage the wheel hub from the axle depending on the location of the slider member. A bearing ring or similar structure may be used to facilitate the engagement of the cooperating engagement structures.

Abstract: A tractor having right and left traveling crawlers (9) installed thereon, comprising a hydraulic transmission swing mechanism (45), a forced-diff (41) for driving a crawler driving sprocket (4), and an engine (10), a hydraulic transmission straight-ahead driving mechanism (25), and a transmission case (12) disposed from the front side to the rear side of a machine body in that order, wherein an allowance for heat radiation is provided to a space under a machine floor for storing the hydraulic transmission straight-ahead driving mechanism (25) to eliminate the problem of the machine floor becoming too high, and the forced-diff (41) is driven by the hydraulic transmission swing mechanism (45) with a simple structure.

Abstract: A self-propelled operating machine has a power source, a hydraulic CVT for varying power outputted from the power source, and a transmission mechanism connected to the hydraulic CVT for transmitting power outputted from the hydraulic CVT. A stand is mounted between the transmission mechanism and the power source so as to enclose the hydraulic CVT. The stand has an oil passage through which hydraulic oil of the hydraulic CVT flows. A cooling fan cools the oil passage of the stand to thereby cool the hydraulic oil of the hydraulic CVT flowing through the oil passage. The cooling fan is disposed between the power source and the hydraulic CVT so as to be enclosed by the stand.

Abstract: The steering angle with respect to the running distance is changed by changing the steering angular velocity in accordance with the steering angle and the vehicle speed such that the turning rate has a linear relationship with the moving distance.

Abstract: A driving apparatus for speed changing and steering of a vehicle consists of a first driving unit for speed changing in advancing and reversing and a second driving unit for steering, which are arranged in a longitudinal row and are attached to a vehicle chassis. Each of the first driving unit and the second driving unit has a common structure, which comprises a housing and an HST and left and right differential output shafts contained in the housing. A left first differential output shaft and a left second differential output shaft are connected with each other so as to be rotated in the same direction, and a right first differential output shaft and a right second differential output shaft are connected with each other so as to be rotated in opposite directions. Both first and second HSTs of the first driving unit and a second driving unit receives power from engine through a common single belt.

Abstract: A lawn mower having selectively drivable wheels, includes dirigible front drive wheels, a pair of right and left rear drive wheels, a body frame, an engine supported by the body frame, a mower unit vertically movably supported by the body frame forwardly of the rear drive wheels, a change speed device for changing a speed of drive from the engine, a front wheel driving device for transmitting drive from the change speed device to the front wheels, a left rear wheel driving device for transmitting drive from the change speed device to a right axle of the left rear wheel, a right rear wheel driving device for transmitting drive from the change speed device to a left axle of the left rear wheel, and rear wheel clutches associated with the left rear wheel driving device and the right rear wheel driving device, respectively, for selectively connecting and disconnecting drive.

Abstract: In a method and device for controlling driving dynamics, at least one steering action at a vehicle axle being controlled, a driving-dynamics setpoint, which is described by at least a yaw-dynamics setpoint, being ascertained, a steering-angle precontrol value being determined on the basis of the driving-dynamics setpoint, using a model of the controlled system, the driving state, which is described by at least the yaw rate, being ascertained, at least one steering-angle correction value being ascertained, based on the deviation of the actual yaw rate from a setpoint yaw rate, and the steering action being defined by the steering-angle precontrol value and the at least one steering-angle correction value.

Abstract: A method for controlling the handling characteristics of a vehicle, including the steps of ascertaining setpoint values that are associated with specific controlled variables, and measuring forces at wheels of the vehicle, the controlled variables being forces or torques, actual values associated with the setpoint values being calculated from the forces measured at the wheels of the vehicle, and the ascertained setpoint values and the calculated actual values being used as input values of a control system. Also described is a system for controlling the handling characteristics of a vehicle.

Abstract: A self-alignment torque correcting apparatus for a vehicle that compensates for a surplus and a shortage of self-alignment torque of the vehicle. The apparatus includes a driving source that confers a driving force to a steering mechanism of the vehicle; a steering angle detecting portion that detects a steering angle of an operating member; a vehicle speed detecting portion that detects a speed of the vehicle; and a self-alignment torque compensating portion that compensates for a surplus and a shortage of self-alignment torque of the vehicle by controlling the driving source based on the steering angle detected by the steering angle detecting portion and the vehicle speed detected by the vehicle speed detecting portion.

Abstract: A power steering system capable of giving a driver no discomfort even when an incoming current instruction value sharply decreases. The power steering system comprises a controller C for determining a solenoid current instruction value SI on the basis of a current instruction value I1 in accordance with a steering angle supplied from a steering angle sensor, a current instruction value I2 in accordance with a steering angular velocity, and a current instruction value in accordance with a vehicle speed. The controller C comprises a delay control section for reducing the rate of decrease only when the incoming current instruction value sharply decreases and outputting the resulting current instruction value.