Pivot point-based control for active rear-wheel steering in passenger vehicles

Research output: Contribution to journalResearch articleContributedpeer-review


  • Steffen Wagner - , Daimler AG (Author)
  • Thomas Weiskircher - , Daimler AG (Author)
  • Dieter Ammon - , Daimler AG (Author)
  • Guenther Prokop - , Chair of Automobile Engineering (Author)


This paper presents a new application of active rear-wheel steering control to improve the lateral vehicle behaviour. In the state of the art, yaw or lateral velocity is used as control variable that means one degree of freedom being not directly controlled. A worse subjective impressions due to movements in the rear end of the vehicle during strong counter-steering are a consequence. To avoid this effect in urban surroundings, an innovative structure to control the pivot point distance of the vehicle is proposed. In this case the coupled elementary states yaw and lateral velocity can be influenced based on a higher level criteria. Analysis show that pivot point fixing provides a comprehensible reference behaviour. Solving the issue of singularity during disappearing yaw movement is the basis to design a performant modified feedforward input-output linearisation. An analytic stability analysis of the internal dynamics shows system immanent limitations which do not influence the target of improving the lateral vehicle dynamics in urban manoeuvres. Finally, the advantages of pivot-based control are highlighted by a comparison with state of the art rear axle control.


Original languageEnglish
Pages (from-to)1139-1161
Number of pages23
JournalVehicle System Dynamics
Issue number8
Publication statusPublished - 29 Nov 2017

External IDs

Scopus 85035316508
ORCID /0000-0002-0679-0766/work/141545001



  • Lateral vehicle dynamics, active steering systems, pivot point control, exact input-output linearisation, FEEDFORWARD CONTROL, DYNAMICS, DESIGN