A control device controls a reaction force motor that generates a steering reaction force to be applied to a steering mechanism of a vehicle, based on a steering reaction force command value calculated according to a steering state. An axial force distribution calculation circuit of the control device calculates a mixed axial force by summing values obtained by multiplying an ideal axial force and estimated axial forces by individually set distribution rates. The axial force distribution calculation circuit calculates a final axial force to be reflected in the steering reaction force command value, by summing values obtained by multiplying the ideal axial force and the mixed axial force by individually set distribution rates. The axial force distribution calculation circuit sets the distribution rates of the ideal axial force and the mixed axial force, based on a distribution command generated by the host control device when intervening in steering control.

The driving support ECU performs a steering control for changing a steering angle in such a manner that an own vehicle travels along a target path. When a state in which holding state information does not satisfy a first condition continues for a first time threshold or more, the ECU starts a first alert and continues the steering control. The holding state information includes information indicative of a steering torque and represents a holding state of a steering handle by a driver. When a state in which the holding state information does not satisfy a second condition for a second time threshold or more after the first alert is started, the ECU starts a deceleration control. The second condition is a condition satisfied when the holding state information indicates that the driver holds the steering handle more firmly than when the holding state information satisfies the first condition.

A steering apparatus for an agricultural vehicle includes a vehicle axle suspended in an oscillating or resilient manner, steerable wheels located on the vehicle axle, and an actuating apparatus for influencing a steering angle which is adjustable on the steerable wheels. A device actively limits an oscillating angle or deflection path arising on the vehicle axle. Moreover, the device operably activates a control unit according to a full steering angle to be anticipated on the steerable wheels as a result of travel.

A steering system is described for a vehicle having steerable wheels. A hydraulic charge pressure circuit may be configured to provide charge pressure to one or more hydraulic components of the vehicle and a hydraulic drive pressure circuit may be configured to provide working pressure to one or more other hydraulic components of the vehicle. Hydraulic machines may rotate front wheels in order to drive the vehicle, and a front valve assembly may control steering of the front wheels by controlling the hydraulic machines. The hydraulic machines may be driven to rotate the front wheels by the working pressure from the hydraulic drive pressure circuit, and the front valve assembly may control the front hydraulic machines to steer the agricultural vehicle by controlling flow of hydraulic fluid from the hydraulic charge pressure circuit through the front valve assembly.

In a broad respect, vehicles that are capable of making a low- to zero-radius turn using the independent rotation of drive wheels and by turning the non-driving steerable structure or structures (such as wheels) with a steering input device (in some embodiments, the driving wheels also may be capable of being turned). This may be accomplished using a steering system, a speed control system and an integration device (together, a control system) that are configured to work together to provide correct steering in forward and reverse, and, in some embodiments, to reduce the speed of the outboard drive wheel of the vehicle when it enters an extreme turn under constant speed input. Different systems configured for use in such vehicles are included.

Systems for controlling the speed and direction of vehicles, including vehicles that have low to zero turning radius capability.

A riding type vehicle has a driving source, a left wheel and a right wheel, a transmission configured to receive power from the driving source to independently operate and drive the left wheel and the right wheel with regard to a rotation direction and a rotation speed, and caster wheels separately provided in a front-rear direction with respect to the left wheel and the right wheel, the riding type vehicle including two first sensors arranged on both left and right sides more to a front side than a rear end of the vehicle, the two first sensors configured to detect an obstacle target located on a rear side, the obstacle target being a target becoming an obstacle at the time of reversing or turning.

A steering system and method is described for a vehicle having steerable front and rear wheels, and a steering input device for receiving manual steering input. Front and rear hydraulic steering devices may be coupled, respectively, to the front and rear wheels. Front and rear valve assemblies may be configured, respectively, to steer the front and rear wheels. In a manual steering mode, the front valve assembly may be disabled with respect to the front steering device, and the front hydraulic steering device may steer the front wheels based upon the manual steering input. In a rear steering assist mode, a rear steering command may be determined based upon the manual steering input, and the rear wheels steered based upon the rear steering command. In an automated steering mode, the front and rear wheels may be automatically steered based upon a target path of travel for the vehicle.

A steering angle controller which controls an actual value to a desired value, wherein the steering angle controller outputs, as an output signal, an actuating signal for power electronics to control an electric servo motor, wherein the actual value is a steering angle or a measurement variable corresponding to the steering angle and the desired value is a steering angle request or measurement variable request, wherein the steering angle controller is assigned at least one memory which stores at least two different control algorithms.

A system configured to be mounted to a vehicle including a skid-based steering system. The system including a control unit for determining course correction to the vehicle during operation based on a navigation path received from a remote device and data associated with the movement of the vehicle collected by the system.