A control system of a wheel of a vehicle includes: a wheel speed sensor configured to measure a wheel speed of wheels of the vehicle; a data storage configured to store data relating to a plurality of abnormal patterns based on a slip state or a lock state of each wheel; and a controller configured to extract wheel speed pattern data using wheel speeds measured from the wheel speed sensor, to compare the extracted wheel speed pattern data with the stored data relating to the plurality of abnormal patterns, to determine an abnormal pattern among the plurality of abnormal patterns most similar to the extracted wheel speed pattern data according to the comparison, and to detect an abnormal wheel among the wheels of the vehicle based on the determined abnormal pattern.

A control method of a rear wheel steering system prevents a sudden change in a rear wheel steering control amount when an error occurs in a wheel speed sensor. The control method detects an error in wheel speed sensors based on output values of the wheel speed sensors. A vehicle speed is estimated by using output values of remaining normal wheel speed sensors except for an output value of an abnormal wheel speed sensor where an error is detected, when an error in the wheel speed sensor is detected. Rear wheels are steered and controlled based on the estimated vehicle speed.

A motor vehicle for piloted driving including a front axle steering system and a rear axle steering system. In the active, trouble-free driving state with a piloted driving, the driving task for steering the front axle is performed by a front axle steering control which automatically controls the front axle steering system. A failure of the automatic front axle steering control is automatically recognized with a failure recognition device and the vehicle steering is taken over by the rear axle steering system. The motor vehicle is equipped with a device for controlled wheel-selective brake intervention. In case of a failure of the automatic front axle steering control, this device is controlled in such a way that an automatic centering of the front axle steering system is performed by wheel-selective braking interventions.

A method for vehicle stabilization includes, in response to a determination that a fault occurred in a rear steering mechanism, identifying a fault type associated with the fault. The method also includes determining whether a position of a rack of the rear steering mechanism is controllable based on the fault type. The method also includes, in response to a determination that the position of the rack is controllable, selectively positioning the rack to a center position and holding, using a motor control system of the rear steering mechanism, the rack in the center position. The method also includes, in response to a determination that the position of the rack is not controllable, holding, using the motor control system of the rear steering mechanism, the rack in a current position.

A steering system for a steerable vehicle includes at least two steerable wheels, to each of which an electrically operable steering actuator to enable the steering actuator to adjust the steering angle of the particular steerable wheel by application of a steering torque. The at least two steering actuators can be mechanically coupled to each other so that, in the event of a failure or a malfunction of the one steering actuator, the steering torque provided by the other steering actuator can be transferred to the one steering actuator, to enable the steering angle of the steerable wheel assigned to the failed steering actuator to still be changed via the other steering actuator. The at least two steering actuators can be mechanically coupled to each other via a bendable shaft or via a universal joint shaft which includes at least two rigid shafts hingedly connected via a universal joint.

A steering securing arrangement includes comprising a rod, a housing and a blocking unit, the rod being guided on the housing along an actuating axis, the blocking unit configured to be moved into a first state, in which the blocking unit is out of engagement with the rod, the blocking unit being further configured to be moved into a second state, in which the blocking unit is in engagement with the rod and secures the rod against movement along the actuating axis.

Provided is an electric power steering device including: a front-wheel steering mechanism, which is provided to front wheels of a vehicle, and includes a front-wheel steering motor as a drive source; and a rear-wheel steering mechanism, which is provided to rear wheels of the vehicle, and includes a rear-wheel steering motor as a drive source, wherein the rear-wheel steering motor is configured to be a double-inverter three-phase duplex motor, the double-inverter three-phase duplex motor including two three-phase windings and two inverters each configured to individually drive one of the two three-phase windings. Therefore, the electric power steering device is capable of, even when a failure has occurred in the steering motor of the rear-wheel steering mechanism, maintaining a function of the rear-wheel steering mechanism to secure behavior stability of the vehicle.

A lock system can be provided at each rear wheel assembly of a four wheel steering system to physically lock the rear wheel assemblies in a fixed direction to safely prevent rear wheel steering when such feature is undesirable. The lock system can use an electronically controlled actuator to hydraulically drive or retract a lock cylinder to lock or unlock the rear wheel assemblies, respectively. Sensors can be used to detect whether the lock cylinders are driven or retracted by their respective actuators, so that a controller monitoring the sensors can determine whether four wheel steering is enabled or disabled.

An apparatus and a method for controlling a rear wheel steering (RWS) system, may include determining, by a controller, whether an abnormality occurs in a rear wheel alignment based on information collected from the vehicle; determining, by the controller, a correction amount of the rear wheel alignment for correcting the abnormality occurring in the rear wheel alignment using predetermined data based on one or more of the information collected from the vehicle when the abnormality is determined to occur in the rear wheel alignment; correcting, by the controller, a rear wheel control position determined based on variable information related to an RWS control using the determined correction amount of the rear wheel alignment; and controlling, by the controller, an RWS actuator of the vehicle based on the corrected rear wheel control position, and an apparatus for controlling an RWS system.

A control device and method for controlling a tag axle steering system, configured to steer tag axle wheels of a tag axle, are provided. The method comprises, when the steering angle of the tag axle wheels is offset from a steering angle of a neutral position of the tag axle wheels and in response to a fault signal indicating malfunction of the tag axle steering system, locking the position of the tag axle wheels at a current steering angle of the tag axle wheels. A computer program and a computer-readable medium, as well as a vehicle, are also disclosed.