Importance

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Abstract

A vehicle controlled via a joystick has a turn request mode and a return to center request. While the operator is requesting a turn, steered wheels are turned at a predetermined rate, steering angle continuing to change while the turn request is being applied. When the operator ceases requesting a turn, the return to center mode is invoked: a direction of a virtual wheel of the vehicle is determined and such direction is maintained. A vehicle angular velocity is computed based on vehicle velocity and a virtual steering angle, which is the angle between the direction the virtual wheel is pointing and the longitudinal axis of the vehicle. To maintain the direction of the virtual wheel during a return to center, the virtual wheel is turned at an angular velocity equal in magnitude to the angular velocity of the vehicle and in a direction to return to center.

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First Claim