CN115158459A - Rear wheel steering angle control method, device, equipment and computer readable storage medium - Google Patents
Rear wheel steering angle control method, device, equipment and computer readable storage medium Download PDFInfo
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- CN115158459A CN115158459A CN202210815647.4A CN202210815647A CN115158459A CN 115158459 A CN115158459 A CN 115158459A CN 202210815647 A CN202210815647 A CN 202210815647A CN 115158459 A CN115158459 A CN 115158459A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
Abstract
The embodiment of the disclosure provides a rear wheel steering angle control method, a rear wheel steering angle control device, rear wheel steering angle control equipment and a computer readable storage medium. The method comprises the following steps: acquiring a current vehicle speed; acquiring a vehicle speed threshold; judging whether to switch the current rear wheel steering angle control mode or not according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel corner control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode. In this way, can ensure that the homoenergetic selects suitable rear wheel corner control mode under the speed of a motor vehicle of difference, and then according to the rear wheel corner control mode of suitable accurate calculation under the current speed of a motor vehicle, avoid the rear wheel corner inaccurate and lead to the vehicle to appear swinging by a wide margin when the speed of a motor vehicle changes and influence vehicle performance, lead to the fact harmful effects for the passenger.
Description
Technical Field
The present disclosure relates to the field of vehicles, and more particularly, to the field of rear wheel control technology.
Background
In the process of vehicle driving, the rear wheel steering angle is often closely related to the vehicle speed, and after the vehicle speed is changed, the rear wheel steering angle may also need to be adaptively changed, but in the process, the rear wheel steering angle is often suddenly changed too much because of inaccurate calculation, so that the vehicle swings greatly, the performance of the vehicle is affected, and adverse effects are also caused to passengers, and regarding the defect, an effective solution is not available at present.
Disclosure of Invention
The disclosure provides a rear wheel steering angle control method, a rear wheel steering angle control device, a rear wheel steering angle control apparatus and a storage medium.
According to a first aspect of the present disclosure, a rear wheel steering angle control method is provided. The method comprises the following steps:
acquiring a current vehicle speed;
acquiring a vehicle speed threshold;
judging whether to switch the current rear wheel steering angle control mode or not according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
The foregoing aspect and any possible implementation manner further provide an implementation manner, where the determining, according to the current vehicle speed and the vehicle speed threshold, whether to switch the current rear wheel steering angle control manner includes:
when the current vehicle speed is less than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode into an open-loop control mode; and if the current rear wheel steering angle control mode is an open-loop control mode, not switching.
When the current vehicle speed is greater than the vehicle speed threshold value, if the current rear wheel steering angle control mode is an open-loop control mode, switching the current rear wheel steering angle control mode into a closed-loop control mode; and if the current rear wheel steering angle control mode is a closed-loop control mode, switching is not performed.
The above-described aspects and any possible implementations further provide an implementation, and the method further includes:
and determining the vehicle speed threshold according to the type of the current vehicle.
The foregoing aspect and any possible implementation manner further provide an implementation manner, where the determining, according to the current vehicle speed and the vehicle speed threshold, whether to switch the current rear wheel steering angle control manner includes:
if the difference value between the current vehicle speed and the vehicle speed threshold is smaller than a preset vehicle speed difference, determining the current rear wheel corner under the current rear wheel corner control mode;
calculating a preset rear wheel steering angle under another rear wheel steering angle control mode;
and judging whether to switch the current rear wheel steering angle control mode or not according to the current rear wheel steering angle and the preset rear wheel steering angle.
The foregoing aspect and any possible implementation manner further provide an implementation manner, where the determining whether to switch the current rear wheel steering angle control manner according to the current rear wheel steering angle and the preset rear wheel steering angle includes:
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
The above-described aspect and any possible implementation further provide an implementation manner, wherein the preset angle threshold is adjusted according to the current vehicle speed.
The above aspects and any possible implementation manners further provide an implementation manner, and the open-loop control manner calculates a rear wheel rotation angle according to the current vehicle speed and a front wheel rotation angle;
and calculating the corner of the rear wheel according to the current vehicle speed, the corner of the front wheel, the yaw velocity and the lateral acceleration in the closed-loop control mode.
According to a second aspect of the present disclosure, a rear wheel steering angle control device is provided. The device comprises:
the first acquisition module is used for acquiring the current vehicle speed;
the second acquisition module is used for acquiring a vehicle speed threshold;
the judging module is used for judging whether to switch the current rear wheel steering angle control mode or not according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory having a computer program stored thereon and a processor implementing the method as described above when executing the program.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method as according to the first and/or second aspect of the present disclosure.
According to the method and the device, the current vehicle speed and the vehicle speed threshold value are obtained, whether the current rear wheel corner control mode is switched or not can be automatically judged according to the current vehicle speed and the vehicle speed threshold value, so that the appropriate rear wheel corner control mode can be selected under different vehicle speeds, the rear wheel corner under the current vehicle speed is accurately calculated according to the appropriate rear wheel corner control mode, and the situation that when the vehicle speed changes, the rear wheel corner is inaccurate, so that the vehicle swings greatly to affect the vehicle performance and cause adverse effects to passengers is avoided.
It should be understood that what is described in this summary section is not intended to define key or essential features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
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The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent upon consideration of the following detailed description, taken in conjunction with the accompanying drawings. The accompanying drawings are included to provide a further understanding of the present disclosure, and are not incorporated in or constitute a part of this specification, wherein like reference numerals refer to like or similar elements throughout the several views and wherein:
FIG. 1 shows a flow chart of a rear wheel steering angle control method according to an embodiment of the present disclosure;
fig. 2 shows a block diagram of a rear wheel steering angle control apparatus according to an embodiment of the present disclosure;
FIG. 3 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In addition, the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Fig. 1 shows a flow chart of a rear wheel steering angle control method 100 according to an embodiment of the present disclosure. The method 100 may include:
By acquiring the current vehicle speed and the vehicle speed threshold value, whether the current rear wheel corner control mode is switched can be automatically judged according to the current vehicle speed and the vehicle speed threshold value, so that the appropriate rear wheel corner control mode can be selected under different vehicle speeds, the rear wheel corner under the current vehicle speed is accurately calculated according to the appropriate rear wheel corner control mode, and the situation that the vehicle performance is influenced and the passengers are badly influenced due to the fact that the vehicle swings greatly because the rear wheel corner is inaccurate when the vehicle speed changes is avoided.
In some embodiments, the determining whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold includes:
when the current vehicle speed is less than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode to an open-loop control mode; and if the current rear wheel steering angle control mode is an open-loop control mode, not switching.
When the current vehicle speed is greater than the vehicle speed threshold value, if the current rear wheel steering angle control mode is an open-loop control mode, switching the current rear wheel steering angle control mode into a closed-loop control mode; and if the current rear wheel steering angle control mode is a closed-loop control mode, switching is not performed.
Compared with an open-loop control mode, the closed-loop control mode can more accurately calculate the rear wheel corner, when the vehicle speed is high, the closed-loop control mode is obviously needed to avoid vehicle swing, and when the vehicle speed is low, the open-loop control mode is only needed, so that if the current vehicle speed is less than or equal to the vehicle speed threshold value, and the current rear wheel corner control mode is the closed-loop control mode, the current rear wheel corner control mode is automatically switched to the open-loop control mode, otherwise, the switching is not needed; in the same way as above, the first and second,
if the current vehicle speed is greater than the vehicle speed threshold value, the fact that the current vehicle speed is greater and a closed-loop control mode is needed to be used for calculating the rear wheel steering angle more accurately is indicated, and therefore if the current rear wheel steering angle control mode is an open-loop control mode, the current rear wheel steering angle control mode is automatically switched to the closed-loop control mode; otherwise, no handover is required.
In some embodiments, the method further comprises:
and determining the vehicle speed threshold according to the type of the current vehicle.
Because the suitable vehicle speeds of users under different vehicle types are different, the vehicle speed threshold value can be automatically and accurately determined according to the vehicle type of the current vehicle, and the selection accuracy of the rear wheel steering control mode is improved.
In some embodiments, the determining whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold includes:
if the difference value between the current vehicle speed and the vehicle speed threshold is smaller than a preset vehicle speed difference, determining a current rear wheel corner under the current rear wheel corner control mode;
calculating a preset rear wheel steering angle under another rear wheel steering angle control mode;
and judging whether to switch the current rear wheel steering angle control mode or not according to the current rear wheel steering angle and the preset rear wheel steering angle.
If the difference value between the current vehicle speed and the vehicle speed threshold is smaller than the preset vehicle speed difference, it is indicated that the current vehicle speed is close to the vehicle speed which makes a user feel comfortable, so that the current rear wheel corner under the current rear wheel corner control mode can be determined firstly, then the preset rear wheel corner under another rear wheel corner control mode is calculated, and then the current rear wheel corner and the preset rear wheel corner are compared, so that whether the current rear wheel corner control mode needs to be switched or not is accurately judged according to the comparison result, and a proper rear wheel corner control mode is ensured to be selected.
In some embodiments, the determining whether to switch the current rear wheel steering angle control manner according to the current rear wheel steering angle and the preset rear wheel steering angle includes:
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
If the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than the preset angle threshold value, it is indicated that the difference value of the rear wheel steering angles calculated under different rear wheel steering angle control modes is not large, and the rear wheel steering angle control mode is switched when the vehicle speed changes, so that the rear wheel steering angle does not change too much to cause the vehicle to swing.
In some embodiments, the preset angle threshold is adjusted based on the current vehicle speed.
The preset angle threshold value can be dynamically adjusted according to the current vehicle speed, and when the current vehicle speed is changed to be higher, the swing of the rear wheel is expected to be smaller so as to avoid the vehicle from swinging greatly, so that the preset angle threshold value needs to be set to be smaller, and a proper rear wheel steering angle control mode can be selected more sensitively.
In some embodiments, the open-loop control mode calculates a rear wheel rotation angle according to the current vehicle speed and a front wheel rotation angle;
and calculating the corner of the rear wheel according to the current vehicle speed, the corner of the front wheel, the yaw velocity and the lateral acceleration in the closed-loop control mode.
Compared with an open-loop control mode, the closed-loop control mode has the advantages that the calculation of the rear wheel rotating angle is more accurate, different rear wheel rotating angle control modes can adapt to vehicle control under complex working conditions, excellent low-speed maneuverability and high-speed performance are obtained, the advantage complementation of different rear wheel rotating angle control modes is realized, and the influence on the vehicle performance and the user experience caused by too large vehicle swing is avoided when the vehicle speed changes.
It should be noted that for simplicity of description, the above-mentioned method embodiments are described as a series of acts, but those skilled in the art should understand that the present disclosure is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present disclosure. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that acts and modules referred to are not necessarily required by the disclosure.
The above is a description of embodiments of the method, and the embodiments of the apparatus are further described below.
Fig. 2 shows a block diagram of a rear wheel steering angle control apparatus 200 according to an embodiment of the present disclosure. As shown in fig. 2, the apparatus 200 includes:
a first obtaining module 210, configured to obtain a current vehicle speed;
the second obtaining module 220 is used for obtaining a vehicle speed threshold;
the judging module 230 is configured to judge whether to switch a current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the described module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The present disclosure also provides an electronic device and a non-transitory computer-readable storage medium storing computer instructions, according to embodiments of the present disclosure.
FIG. 3 shows a schematic block diagram of an electronic device 300 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
The device 300 comprises a computing unit 301 which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 302 or a computer program loaded from a storage unit 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the device 300 can also be stored. The calculation unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
Various components in device 300 are connected to I/O interface 305, including: an input unit 306 such as a keyboard, a mouse, or the like; an output unit 307 such as various types of displays, speakers, and the like; a storage unit 308 such as a magnetic disk, optical disk, or the like; and a communication unit 309 such as a network card, modem, wireless communication transceiver, etc. The communication unit 309 allows the device 300 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 301 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 301 performs the various methods and processes described above, such as the method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 300 via ROM 302 and/or communication unit 309. When the computer program is loaded into RAM 303 and executed by computing unit 301, one or more steps of method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method 100 by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (10)
1. A rear wheel steering angle control method characterized by comprising:
acquiring a current vehicle speed;
acquiring a vehicle speed threshold;
judging whether to switch the current rear wheel steering angle control mode or not according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
2. The method according to claim 1, wherein the determining whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold comprises:
when the current vehicle speed is less than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode to an open-loop control mode; and if the current rear wheel steering angle control mode is an open-loop control mode, not switching.
When the current vehicle speed is greater than the vehicle speed threshold value, if the current rear wheel steering angle control mode is an open-loop control mode, switching the current rear wheel steering angle control mode into a closed-loop control mode; and if the current rear wheel steering angle control mode is a closed-loop control mode, switching is not performed.
3. The method of claim 1, further comprising:
and determining the vehicle speed threshold according to the type of the current vehicle.
4. The method of claim 1,
the judging whether to switch the current rear wheel steering angle control mode or not according to the current vehicle speed and the vehicle speed threshold value comprises the following steps:
if the difference value between the current vehicle speed and the vehicle speed threshold is smaller than a preset vehicle speed difference, determining the current rear wheel corner under the current rear wheel corner control mode;
calculating a preset rear wheel steering angle under another rear wheel steering angle control mode;
and judging whether to switch the current rear wheel steering angle control mode or not according to the current rear wheel steering angle and the preset rear wheel steering angle.
5. The method of claim 4,
the judging whether to switch the current rear wheel steering angle control mode according to the current rear wheel steering angle and the preset rear wheel steering angle comprises the following steps:
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
6. The method of claim 5,
and adjusting the preset angle threshold according to the current vehicle speed.
7. The method according to any one of claims 1 to 6,
calculating a rear wheel corner according to the current vehicle speed and a front wheel corner in the open-loop control mode;
and calculating the corner of the rear wheel according to the current vehicle speed, the corner of the front wheel, the yaw velocity and the lateral acceleration in the closed-loop control mode.
8. A rear wheel steering angle control device characterized by comprising:
the first acquisition module is used for acquiring the current vehicle speed;
the second acquisition module is used for acquiring a vehicle speed threshold;
the judging module is used for judging whether to switch the current rear wheel steering angle control mode or not according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel corner control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method according to any one of claims 1-7.
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| US20060020382A1 (en) * | 2004-07-26 | 2006-01-26 | Kwang-Keun Shin | Adaptive compensation of rear-wheel steering control using vehicle dynamics parameter estimation |
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| CN103978971A (en) * | 2013-02-13 | 2014-08-13 | 本田技研工业株式会社 | Methods of controlling four-wheel steered vehicles |
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