Gain/Phase Control Front Steering, Rear Axle Steering and Compliance Steer Control for Trucks and Buses

The driving performance of a vehicle with front wheel steering system is enhanced by controlling the gain and/or phase-lag characteristics. A vehicle with rear axle steering system has an even or higher effect than that. The compliance steer control effect in mechanical system is the key technology for enhancing the on-center stability Driver's error compensating system by steering and/or brake system control will be in future, and the manual and automonous control hybrid driving system will follow it.