Abstract: Powered patient support apparatuses—such as beds, cots, stretchers, or the like—include a plurality of user controls that allow a caregiver to control the steering and/or driving of one or more powered wheels from multiple different locations around the patient support apparatus (e.g. head end, foot end, and/or the sides). The control is carried out by force sensors that detect both an orientation of the applied forces and a magnitude of the applied forces. Translational and/or rotational movement is effectuated, depending upon the magnitude and direction of the forces, as well as the physical location of the applied force relative to a reference point on the support apparatus, such as the center. One or more object sensors may also be included in the support apparatus to assist in steering and/or navigating.

Abstract: A rack electric power steering system includes a rack having a single set of teeth with a constant tooth pitch. The system also includes a first pinion operatively coupled to a steering shaft and in meshed engagement with the single set of teeth of the rack. The system further includes a second pinion operatively coupled to an electric motor and in meshed engagement with the single set of teeth of the rack.

Abstract: A driver command interpreter system for a vehicle includes one or more controllers that execute instructions to receive a plurality of dynamic variables, vehicle configuration information, and driving environment conditions, and determine a target vehicle state during transient driving conditions based on the plurality of dynamic variables from the one or more sensors, the vehicle configuration information, and the driving environment conditions. The one or more controllers build a transient vehicle dynamic model based on the target vehicle state during transient driving conditions, the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions, and solve for desired zeros corresponding to the target vehicle state during transient conditions.

Abstract: Systems and methods are provided herein for operating an electric vehicle in a vehicle yaw mode. The electric vehicle includes a normal driving mode where the electric vehicle is steered by turning the steerable wheels (e.g., left or right) and vehicle yaw mode where the vehicle controls the torque applied to each wheel. In response to receiving input to initiate vehicle yaw mode and yaw direction, the system determines the inner wheels and the outer wheels and provides forward torque to the outer wheels of the vehicle and backward torque to the inner wheels of the vehicle to rotate the vehicle.

Abstract: A marine vessel control system comprises a propulsion unit and a steering actuator for steering the propulsion unit. There is a shift actuator for shifting gears in the propulsion unit and a throttle actuator for increasing or decreasing throttle to the propulsion unit. There is an input device for providing user inputted steering commands to the steering actuator and for providing user inputted shift and throttle commands to the shift actuator and the throttle actuator. There is a sensor for detecting a global position and a heading direction of the marine vessel. A controller receives position and heading values of the marine vessel from the sensor. The controller compares the received position value to a pre-programmed position value to determine a position error difference. The controller also compares the received heading value to a pre-programmed heading value to determine a heading error difference.

Abstract: A turning controller for a vehicle is configured to execute: a time obtaining process that obtains collision prediction time; a lateral movement amount determining process that determines whether a target lateral movement amount is greater than or equal to a lateral movement amount determination value; and an automatic turning process that, in a case in which the collision prediction time is shorter than or equal to a determination prediction time, outputs a command for steering the front wheel to the front wheel steering device and outputs a command for steering the rear wheel to the rear wheel steering device, in order to avoid a collision between the vehicle and the obstacle; a counter-phase process in the automatic turning process in a case in which the target lateral movement amount is determined to be greater than or equal to the lateral movement amount determination value.

Abstract: Provided are a vehicle motion control device, a method thereof, a program thereof, a system thereof in which it is adapted for traveling situation while an occurrence of an unstable behavior of a vehicle at the time of automatic lane change is suppressed, and a target trajectory generation device, a method thereof, a method thereof, a program thereof, and a system thereof. In a vehicle that can automatically control a lateral acceleration generated in the vehicle at the time of lane change, the lateral acceleration at the time of lane change is controlled such that an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (the secondary steering side) in a lateral direction opposite to the moving direction at the time of lane change is equal or more than an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (primary steering side) in the same direction as a lateral moving direction at the time of lane change.

Abstract: A method of controlling a vehicle includes obtaining a linear representation of a vehicle dynamics model that includes actuator dynamics u integrated with vehicle dynamics x. The actuator dynamics u include a road wheel angle at rear wheels ?r and a torque Mz. The method also includes obtaining an objective function based on a function of the vehicle dynamics x and the actuator dynamics u and formulating a cost function to minimize the objective function. The actuator dynamics u including the torque Mz are determined for a next time sample based on minimizing the objective function. The vehicle is controlled to implement the torque Mz.

Abstract: A method for operating an industrial truck having three wheels. During longitudinal travel, two steerable wheels run in succession in a first lane, and a third wheel runs in a second lane. The third wheel initially runs on an inside during a turning in while cornering until the industrial truck, during a further turning in, transitions into a revolving motion. The method includes reducing a drive power as of a specific steering angle during the turning in prior to the revolving motion, and disengaging or reversing a direction of a drive rotation of the third wheel after a delay time which begins with the reducing of the drive power, or, continuously reducing the drive power from the specific steering angle during the further turning in, and disengaging or reversing the direction of rotation of the third wheel when transitioning into the revolving motion.

Abstract: An EPS controller reduces a turning angle of front wheels when it is determined that a normative yaw rate is larger than an actual yaw rate.

Abstract: A system and method for providing security to a network may include maintaining, by a processor, a model of an expected behavior of data communications over the in-vehicle communication network; receiving, by the processor, a message sent over the network; determining, by the processor, based on the model and based on content in the message, whether or not the message complies with the model; and if the message does not comply with the model then performing, by the processor, at least one action related to the message.

Abstract: A marine vessel control system comprises a propulsion unit and a steering actuator for steering the propulsion unit. There is a shift actuator for shifting gears in the propulsion unit and a throttle actuator for increasing or decreasing throttle to the propulsion unit. There is an input device for providing user inputted steering commands to the steering actuator and for providing user inputted shift and throttle commands to the shift actuator and the throttle actuator. There is a sensor for detecting a global position and a heading direction of the marine vessel. A controller receives position and heading values of the marine vessel from the sensor. The controller compares the received position value to a pre-programmed position value to determine a position error difference. The controller also compares the received heading value to a pre-programmed heading value to determine a heading error difference.

Abstract: A system and method for providing security to a network may include maintaining, by a processor, a model of an expected behavior of data communications over the in-vehicle communication network; receiving, by the processor, a message sent over the network; determining, by the processor, based on the model and based on content in the message, whether or not the message complies with the model; and if the message does not comply with the model then performing, by the processor, at least one action related to the message.

Abstract: A computing system for detecting anomalies in a rotor during a transient speed operation is provided which includes a first computing device programmed to identify a baseline sample set including a plurality of baseline samples. The computing device collects a plurality of current vibration samples from at least one vibration sensor during the transient speed operation, including a first current vibration sample including a first rotational speed measurement of the rotor and a first vibration measurement. The computing device selects one or more baseline samples from the baseline sample set based at least in part on the first rotational speed. Each baseline sample includes a baseline vibration value. The computing device compares the first vibration measurement to one or more baseline vibration values of the selected one or more baseline samples. The computing device transmits an alert to a monitoring device based at least in part on the comparing.

Abstract: A marine vessel control system comprises a propulsion unit and a steering actuator for steering the propulsion unit. There is a shift actuator for shifting gears in the propulsion unit and a throttle actuator for increasing or decreasing throttle to the propulsion unit. There is an input device for providing user inputted steering commands to the steering actuator and for providing user inputted shift and throttle commands to the shift actuator and the throttle actuator. There is a sensor for detecting a global position and a heading direction of the marine vessel. A controller receives position and heading values of the marine vessel from the sensor. The controller compares the received position value to a pre-programmed position value to determine a position error difference. The controller also compares the received heading value to a pre-programmed heading value to determine a heading error difference.

Abstract: A method for operating an industrial truck having three wheels. During longitudinal travel, two steerable wheels run in succession in a first lane, and a third wheel runs in a second lane. The third wheel initially runs on an inside during a turning in while cornering until the industrial truck, during a further turning in, transitions into a revolving motion. The method includes reducing a drive power as of a specific steering angle during the turning in prior to the revolving motion, and disengaging or reversing a direction of a drive rotation of the third wheel after a delay time which begins with the reducing of the drive power, or, continuously reducing the drive power from the specific steering angle during the further turning in, and disengaging or reversing the direction of rotation of the third wheel when transitioning into the revolving motion.

Abstract: A method for side slip angle variable control of a vehicle having a rear wheel steering system, may include a first step of determining a first steering angle ratio value which corresponds to a steering angle ratio of a front wheel and a rear wheel in a driver driving mode and determining a second steering angle ratio value which corresponds to the steering angle ratio of the front wheel and the rear wheel in an autonomous driving mode; a second step of determining a rear-wheel steering angle through determination by the second steering angle ratio value and comparing the rear-wheel steering angle with a predetermined maximum steering angle of a rear wheel steering (RWS); and a third step of determining any one driving mode of the driver driving mode and the autonomous driving mode when the rear-wheel steering angle is determined to be smaller than the RWS maximum steering angle.

Abstract: A control system has at least one sensor configured to track an orientation of a front wheel of a nearby vehicle and provide data indicative of the orientation. The control system also has a computing device including a processor and a memory. The computing device is configured to receive the data from the at least one sensor, determine a wheel angle parameter of the front wheel of the nearby vehicle based on the data, and generate a control command to change at least one of a direction or an acceleration of the vehicle based on the determined wheel angle parameter.

Abstract: A part installation machine, when having entered a part installation work area, operates a separation/coupling device to bring a drive carriage section and a part mounting carriage section from a coupled state into a separated state. The part installation machine also operates an engagement device such that the part mounting carriage section is engaged with a transfer system and transported by the transfer system. In this state, the part installation machine controls a travelling speed of the drive carriage section such that a relative position detected by a relative position detection device is maintained within a predetermined range.

Abstract: An apparatus for manipulating in-vehicle devices using a steering wheel includes a reference signal input unit for inputting a reference signal to a driver through a charged plate, a touch sensor for receiving the reference signal through human body communication and for detecting a touch of the driver, and a controller for generating a control signal on the basis of the results detected by the touch sensor.

Abstract: A steering actuator system to be mounted to the steering wheel and steering column of a vehicle. The steering actuator system includes a flat baseplate with multiple adjustable sliders. These sliders slide along channel guides within the flat baseplate to accommodate steering wheels of varying sizes. The system includes a gear which mounts below the steering wheel, possibly around the steering column of the vehicle. A steering actuator powered by a motor or some other power source is connected to the gear and when activated can actively steer the vehicle. When connected to a guidance system, the vehicle can automatically be guided and steered via the guidance system and the steering actuator system. This provides a convenient way to add automatic steering to any vehicle with a steering wheel.

Abstract: Left and right front wheels are steered by rotation of steering shafts, and a steering force from a steering wheel is inputted into the steering shaft. Mutually adjacent ends of the shafts are coupled to a ring gear and a sun gear of a planetary gear set, a steering angle adjustment motor is drivably coupled to a carrier of the planetary gear set, and the rotation ratio between the shafts is made changeable. Left and right rear wheels are steered by rotation of steering shafts, and a steering force from a steering motor is inputted into the shaft. Mutually adjacent ends of the shafts are respectively coupled to a ring gear and a sun gear of a planetary gear set, a steering angle adjustment motor is drivably coupled to a carrier of the planetary gear set, and the rotation ratio between the shafts is made changeable.

Abstract: Disclosed is a steering control device capable of adjusting reference points of a plurality of motions, which are used for a steering operation in a steering operating unit, with high precision. In the steering control device, a control unit performs N-point learning under the condition that the absolute value of an operating amount in operation systems other than a target is smaller than a predetermined value (or substantially 0). This makes it possible to suppress the influence of operation systems other than the target on the steering of a vehicle M during N-point learning, making it possible to learn the N point in the operation system of the target with high precision. With this N-point learning for each target, even in an operation system which can be steered through a plurality of motions, it is possible to learn the N point of each motion with high precision.

Abstract: A steering method for an industrial truck includes manually steering at least one steerable wheel with a steering transducer. The at least one steerable wheel is hydraulically connected or mechanically connected with the steering transducer. An angular position of the at least one steerable wheel is detected. At least one additional steerable wheel is motor-steered as a function of the detected angular position.

Abstract: A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error.

Abstract: An apparatus for use in turning steerable vehicle wheels upon manual rotation of a hand wheel includes a torque sensor connected with a torque sensor and a rear steering gear. The controller selectively controls the rear steering gear in response to an output from the torque sensor upon manual application of at least a predetermined torque to the hand wheel. The controller selectively controls the rear steering gear in response to the output from the torque sensor through a first range of turning movement of the front wheels so that the steering angle of the rear wheels has a first relationship to the steering angle of the front wheels and through a second range of turning movement of the front wheels so that the steering angle of the rear wheels has a second relationship different from the first relationship.

Abstract: A trochoid propulsion system includes wheels provided at three points of the outer edge of an outer wheel part that turns around a driving shaft; and a steering link part that co-rotates with the action part and is movable horizontally on a turning plane. The steering link part includes a liner slider including a guide member attached to a vertical steering shaft that rotates each wheel so that the length direction is in a radial direction of the steering shaft and a moving member that slides on the guide member. In a state where a center of rotation of the steering link part coincides with the driving shaft of the outer wheel part, a rotating shaft provided corresponding to the steering shaft is attached rotatably to the corresponding moving member at a position separated from the steering shaft by a predetermined distance.

Abstract: An electronic control unit determines the steering direction of rear wheels on the basis of the turning operation direction of a steering wheel when a detected vehicle speed is “0”, i.e. when the vehicle is stopped. If the steering direction of the rear wheels is a return-side steering direction to obtain a neutral steering position, the unit operates a rear wheel-side steering mechanism by driving and controlling an electric motor, whereby allowing return-side stationary steering for the rear wheels.

Abstract: A rear wheel steering system includes a rear rack shaft that slides in a vehicle-width direction to steer a pair of rear wheels, a recess formed in the rear rack shaft, and a pin member that is fitted into the recess from the outer side of the rear rack shaft, and is retracted to be disengaged from the recess. The pin member is fitted into the recess to lock sliding of the rear rack shaft in a neutral position, and the pin member placed in a retracted state is disengaged from the recess to cancel slide lock on the rear rack shaft. The rear rack shaft has guide grooves formed on respective sides of the recess in a longitudinal direction of the rear rack shaft so as to be contiguous with the recess, and used to guide the pin member, placed in the advanced state, toward the recess.

Abstract: A rear toe control (RTC) system and method for a vehicle includes rear actuators for applying rear steering to rear wheels of the vehicle and rear sensors for measuring individual toe angles of the rear wheels. The system further includes a RTC failure module that determines when the RTC system has failed and a road condition determining module that determines whether the vehicle is encountering a poor road surface condition. An electronic control unit (ECU) is disposed on the vehicle and is configured to impose a speed limit for the vehicle when the RTC failure module determines that the RTC system has failed and the road condition determining module determines that the vehicle encountering a poor road surface condition.

Abstract: An all-wheel steering system and vehicle, e.g., riding lawn mower, incorporating the same. The system may include a linkage system that operatively connects the vehicle wheels for simultaneous turning. The system, in one embodiment, includes a power steering unit having fixed or variable output for a given steering input. The system may further include a mechanism for reducing speed based upon mower steering angle.

Abstract: A steering mechanism for a milling attachment device provides steering capability without impeding cutting depth control. The steering mechanism has at least one wheel that is rotated by an actuating mechanism such as an extending cylinder, synchronized actuators, or the like. The steering mechanism may be integrated with depth control by using a parallelogrammic structure with pivot points to assist in the depth control or may operate independent of and without impeding depth control.

Abstract: A robotic omniwheel vehicle includes autonomous drive logic with laser Radar, GPS for vehicle self guidance, obstacle avoidance and range finding location and also to control the omniwheel assemblies having multi-directional steering, extension and lift actuation via a universal joint and a transmission rod that also supports the chassis while traveling at speeds ranging from low to high velocity on and off road, and on rails. The navigational system control methods use manual driving, a cell phone controller comprising satellite telecommunication with voice command, and a touch screen control panel, an omnichair which can rise up and swivel on point, and may also include electromagnetic coupling devices to connect omnivehicles together.

Abstract: A system that steers the rear wheels of the three wheeled vehicle in coordination with the operator turning the front wheel that improves handling, performance and safety. The rear wheels are steered by a rear end mounted powered steering rack that is controlled by a steering control computer that receives input from a variety of sensors including a sensor for vehicle speed and a sensor in the steering neck that measures the angular rotation of the handlebars as they are turned by the operator. Based on these inputs, using proprietary programming the steering control computer calculates the rate, timing and direction to turn the rear wheels. Rear steering offers advantages over front wheel only steering including being easier for the operator to turn the vehicle, a smaller turning radius, better straight line stability, better high speed handling, improved corning performance, improved steering response and improved safety.

Abstract: A truck includes at least three steered wheels (5, 6, 7) that are mounted on a chassis (1). The arrangement of the wheels relative to the chassis (1) is predetermined to increase the stability of the truck during the pivoting of the steered wheels (5, 6) and to protect the wheels in frontal mode.

Abstract: A mobile apparatus moves a concrete pump hose over a base surface and has a wheeled frame in which the wheels are pivotable about a generally vertical pivot axis between a longitudinal orientation and a transverse orientation. Each of the front pair of wheels and the rear pair of wheels are coupled to a steering mechanism to permit independent pivotal movement of the respective pairs of wheels to provide four wheel steer of the frame. The hose is supported by front and rear horn members above the base surface and below the frame. An intermediate grappling apparatus engages the hose to affect elevation thereof onto the horn members. The horn members are split between a fixed portion and a pivotally movable portion that pivots away from the fixed portion to permit the hose to be elevated above the horn members. A boom apparatus can substitute for the grappling apparatus.

Abstract: A four-wheel steering system for a remote control vehicle. The system includes a pair of steering actuators driving a pair of front bell cranks. A front toe link is pivotally connected to each of the spaced front bell cranks for lateral translation. Right and left front tie rods are each pivotally connected between corresponding ends of the front toe link and a corresponding front steering knuckle. An elongated center tie rod is pivotally connected between one front bell crank and one of a pair of rear bell cranks. An elongated rear toe link is dependently pivotally connected to the pair of rear bell cranks for lateral translation. Right and left rear tie rods are each pivotally connected between corresponding ends of the rear toe link and corresponding right and left rear steering knuckles whereby the front knuckles steer in one direction while the rear knuckles steer in an opposite direction.

Abstract: The method consists of, when the instantaneous speed of the vehicle is greater than a pre-determined threshold: identifying that the vehicle travels in a straight line without torque exerted on the steering wheel; if the prior condition is met, determining an average residual torque for the steering wheel by calculating a sliding scale of measures of torque on the steering wheel; calculating a correction, if the average residual torque on the steering wheel is greater than a pre-determined minimum torque, which is proportional to the average residual torque to be applied to the torque measures on the steering wheel; calculating effective correction limited in terms of the speed of variation and amplitude in relation to the correction applied to the measures of torque on the steering wheel, said corrected measures being subsequently treated by the electronic calculator in order to control the electronic booster motor.

Abstract: A steering linkage for a vehicle, having a first draglink (32), an auxiliary steering cylinder (34) and a second draglink (38). The auxiliary steering cylinder (34) has a through piston rod (36). The first draglink (32) is arranged between a guide arm (12) of a steering gear (10) and a first end (35) of the through piston rod (36). The second draglink (38) is arranged between steerable vehicle wheels (48, 50) and the second end (37) of the through piston rod (36), thereby making it possible for the steerable vehicle wheels (48, 50) to be steered via the steering gear (10).

Abstract: An all-wheel steering system and vehicle, e.g., riding lawn mower, incorporating the same. The system may include a linkage system that operatively connects the vehicle wheels for simultaneous turning. The system, in one embodiment, includes a power steering unit having fixed or variable output for a given steering input. The system may further include a mechanism for reducing speed based upon mower steering angle.

Abstract: Industrial truck, in particular a lift truck, with a drive axle with drive wheels and a drive motor, a steering axle with two steerable wheels, a target value sensor that is connected to a steering wheel, a steering motor, a steering device which is in effective connection with a steering tie rod, a position transducer magnet whose position is recorded by two magnetic resonance sensors that are arranged in parallel, where the position transducer magnet and the resonance sensors are moved relative to each other during a steering movement of the steering device, and where the magnetic resonance sensors generate counter directional analog signals for the actual value of the steering angle of the steerable wheels, a steering control, connected to the target value sensor, the steering motor, and the magnetic resonance sensors, which evaluates the signals received from the target value sensor and the magnetic resonance sensors, and controls the vehicle steering angle to the target steering angle, where the signals

Abstract: A method for controlling an antilock brake system on a vehicle, the method comprising calculating a prediction of tire normal forces and modifying a brake torque applied to a brake based on the predicted tire normal forces. The prediction of tire normal forces may be calculated using predicted longitudinal forces or estimates of longitudinal forces that are obtained by predicting a master-cylinder pressure.

Abstract: A microcomputer is provided with an extracting section capable of extracting a specific frequency component from an input signal. The extracting section extracts, from a pinion angle corresponding to a signal indicating a state of the steering system, a frequency component corresponding to a vibration of a steering system caused by stress applied to steerable wheels. The extracting section outputs an effective value of the extracted frequency component as a power spectrum to a second computing section. In the case that the power spectrum output from the extracting section is equal to or more than a predetermined threshold value, the microcomputer enhances a torque inertia compensation control so as to suppress vibration of the steering system caused by the stress. In other words, the microcomputer increases a torque inertia compensation amount corresponding to a compensation component based on a steering torque differential value.

Abstract: A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position.

Abstract: This vehicle travel safety device improves the recognition accuracy of road shapes while preventing an extreme increase in the computation amount required for correction of road data. An inactive determination portion determines that the operating portion is inactive when a safety device does not operate for an estimated curve that is estimated by a curve estimating portion and also deceleration of a predetermined amount or more occurs by a deceleration operation of the driver before entering the estimated curve or while traveling through it, or when a safety device does not operate for an estimated curve that is estimated by a road shape estimating portion and also the vehicle condition of the self-vehicle is not in the proper vehicle condition to be able to properly pass the estimated curve.

Abstract: An all-wheel steering system and vehicle, e.g., riding lawn mower, incorporating the same. The system may include a linkage system that operatively connects the vehicle wheels for simultaneous turning. The system, in one embodiment, includes a power steering unit having fixed or variable output for a given steering input. The system may further include a mechanism for reducing speed based upon mower steering angle.

Abstract: An all-wheel steering system and vehicle, e.g., riding lawn mower, incorporating the same. The system may include a linkage system that operatively connects the vehicle wheels for simultaneous turning. The system, in one embodiment, includes a power steering unit having fixed or variable output for a given steering input. The system may further include a mechanism for reducing speed based upon mower steering angle.

Abstract: Steering control system for a land vehicle with at least four steered wheels (1AvG, 1AvD, 1ArG, 1ArD), the system comprising one actuator per steered wheel (3AvG, 3AvD, 3ArG, 3ArD). The system comprises a control member (2) available to a driver and delivering a demanded steering angle (?), a steering control unit (4) which, by way of input variable, uses at least the said demanded steering angel (?) to determine a steering control angle for operating the said actuator, and means (5) for detecting a lock-up of one of the steered-wheel actuators, which are capable of delivering an alarm signal identifying an actuator that has locked up.

Abstract: A vehicle with a compound steering system has the ability to reorient both a forward and aft steering axis with respect to a chassis. The compound steering system is controlled in a manner in which one of a forward steering actuator and an aft steering actuator will reach its mechanical limit before the other, when a steering command from an operator input results in an oversteer condition. An oversteer feedback system provides an indication to the operator that the vehicle is in a oversteer condition, such as by increasing the rotational resistance level of the steering wheel to a medium level when in an oversteer condition.

Abstract: A rear axle steering system for a mobile crane includes at least one actively steered rear axle with wheels arranged thereon. A rear axle steering system of this type is provided with a hydraulic steering system including one or more hydraulic steering cylinders of which a particular number are in each case associated with an actively steered rear axle in order to steer this actively steered rear axle in a desired manner. A braking system is adapted to individually brake each wheel of the at least one actively steered rear axle. In the event of an error in the hydraulic steering system, a control system actuates the braking system in such a way that by selective braking of at least one wheel of the actively steered rear axle, which is affected by this error, the rear axle is brought to a predetermined, desired steering position. A method of steering a rear axle, with wheels of a mobile crane arranged thereon, by means of a hydraulic steering system.