Rear wheel steering swingout compensation

A method of swing out compensation in a vehicle with rear wheel steering, the method comprising:

• obtaining a zero speed status signal representative of when a vehicle is at zero speed;
• establishing a rear wheel angle threshold;
• obtaining a calculated rear wheel angle;
• generating a commanded rear wheel angle responsive to said rear wheel angle threshold and said calculated rear wheel angle, whichever is of smaller magnitude;
• and
• wherein said rear wheel angle threshold includes transitioning from one rear wheel angle to another rear wheel angle at a selected slew rate.

A method of swing out compensation in a vehicle with rear wheel steering, to method comprising:

• obtaining a zero speed status signal representative of when a vehicle is at zero speed;
• establishing a rear wheel angle threshold;
• obtaining a calculated rear wheel angle;
• generating a commanded rear wheel angle responsive to said rear wheel angle threshold and said calculated rear wheel angle, whichever is of smaller magnitude;
• wherein said calculated rear wheel angle represents a desired rear wheel angle to affect said rear wheel steering;
• wherein said rear wheel angle threshold comprises a limit on a rear wheel angular travel on said vehicle;
• wherein said rear wheel angle threshold is responsive to vehicle speed;
• and
• wherein said rear wheel angle threshold includes transitioning from one rear wheel angle to another rear wheel angle at a selected slaw rate.

A swing out compensation for a vehicle with rear wheel steering, the system comprising:

• a controller;
• and
• a rear steering mechanism in communication with and responsive to said controller;
• and
• wherein said controller generates a commanded rear wheel angle responsive to one of a rear wheel angle threshold and a calculated rear wheel angle, whichever is of smaller magnitude;
• wherein said rear wheel angle threshold is about 12 degrees when said zero speed status signal is invalid transitioning to about 5 degrees when said zero speed status signal becomes valid, and transitioning to about 12 degrees when said zero speed status signal becomes invalid.

A swing out compensation system for a vehicle with rear wheel steering, the system comprising:

• a controller;
• and
• a rear steering in communication with and responsive to said controller;
• and
• wherein said controller generates a commanded rear wheel angle responsive to one of a rear wheel angle threshold and a calculated rear wheel angle, whichever is of smaller magnitude;
• wherein said rear wheel angle threshold includes transitioning from one rear wheel angle to another rear wheel angle at a selected slew rate.

A storage medium encoded with a machine-readable computer program code for method of swing out compensation in a vehicle with rear wheel steering, said storage medium including instructions for causing controller to implement a method comprising:

• obtaining zero speed status signal representative of when a vehicle is at zero speed;
• establishing a rear wheel angle threshold;
• obtaining a calculated rear wheel angle;
• generating a commanded rear wheel angle responsive to said rear wheel angle threshold and said calculated rear wheel angle, whichever is of smaller magnitude;
• and
• wherein said rear wheel angle threshold is about 12 degrees when said zero speed status signal is invalid transitioning to about 5 degrees when said zero speed status signal becomes valid, and transitioning to about 12 degrees when said zero speed status signal becomes invalid.

A storage medium encoded with a machine-readable computer program code for method of swing out compensation in a vehicle with rear wheel steering, said storage medium including instructions for causing controller to implement a method comprising:

• obtaining a zero speed status signal representative of when a vehicle is at zero speed;
• establishing a rear wheel angle threshold;
• obtaining a calculated rear wheel angle;
• generating a commanded rear wheel angle responsive to said rear wheel angle;
• threshold and said calculated rear wheel angle, whichever is of smaller magnitude;
• and
• wherein said tear wheel angle threshold includes transitioning front one rear wheel angle to another rear wheel angle at a selected slew rate.

A computer data signal embodied in a carrier wave for determining swing out compensation in a vehicle with rear wheel steering, said computer data signal comprising code configured to cause a controller to implement a method comprising:

• obtaining a zero speed status signal representative of when a vehicle is at zero speed;
• establishing a rear wheel angle threshold;
• obtaining a calculated rear wheel angle;
• generating a commanded rear wheel angle responsive to said rear wheel angle threshold and said calculated rear wheel angle, whichever is of smaller magnitude;
• and
• wherein said rear wheel angle threshold is about 12 degrees when said zero speed status signal is invalid transitioning to about 5 degrees when said zero speed status signal becomes valid, and transitioning to about 12 degrees when said zero speed status signal becomes invalid.

A computer data signal embodied in a carrier wave for determining swing out compensation in a vehicle with rear wheel steering, said computer data signal comprising code configured to cause a controller to implement a method comprising:

• obtaining a zero speed status signal representative of when a vehicle is at zero speed;
• establishing a rear wheel angle threshold;
• obtaining a calculated rear wheel angle;
• generating a commanded rear wheel angle responsive to said rear wheel angle threshold and said calculated rear wheel angle, whichever is of smaller magnitude;
• and
• wherein said rear wheel angle threshold includes transitioning from one rear wheel angle to another rear wheel angle at a selected slew rate.