“Four wheel steering system”

A Seminar Report submitted to

VISVESVARAYA TECHNOLOGICAL UNIVERSITY

In partial fulfilment of the requirements
For the award of degree of

BACHELOR OF ENGINEERING
In

MECHANICAL ENGINEERING
Submitted by

VARUN P
1KG15ME057
Under the guidance of

Mr.Harsha.J
Assistant Professor
Department of Mechanical Engineering
K S School of Engineering and Management

Department of Mechanical Engineering

K.S. School of Engineering and Management
No. 15, Mallasandra, off Kanakapura Road, Bengaluru-560109
2019-20
 K.S. SCHOOL OF ENGINEERING AND MANAGEMENT
DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE

This is to certify that the seminar “Four wheel steering system” is a technical report
presented by VARUN P 1KG15ME057 in partial fulfillment for the award of Bachelor of
Engineering in Mechanical Engineering of Visvesvaraya Technological University,
Belagavi, during the year 2019-20. It is certified that all the suggestions indicated during
internal assessment have been incorporated in the report and this report satisfies the academic
requirement with respect to Seminar (17MES86) prescribed for the degree.

Internal Guide Head of the Department Principal

Mr. Harsha.J Mr. Balaji B Dr. K. Rama Narasimha

Assistant Professor Head of Department KSSEM
Dept. of Mechanical Engg Dept. of Mechanical Engg

Examiners

_____________________________ ____________________________
Name and Signature of Examiner-1 Name and Signature of Examiner-2
 K.S. SCHOOL OF ENGINEERING AND MANAGEMENT
DEPARTMENT OF MECHANICAL ENGINEERING

DECLARATION

I VARUN P 1KG15ME057, the students of BE VIII Semester (Mechanical Engineering)

declare that the seminar report titled Four wheel steering system is prepared by me as partial
fulfillment of academic requirement of degree under Visvesvaraya Technological
University. The content in the report are original and are free from plagiarism and other
academic dishonesty and are not submitted to any other University either partially or wholly
for the award of any other degree.

Signature
VARUN P
1KG15ME057

Date:
Place: Bengaluru
 ACKNOWLEDGEMENT

The successful completion of this seminar report was made possible with the help of
guidance received from our faculty members. We would like to avail this opportunity to
express our sincere thanks and gratitude to all of them.

We are grateful to our management for providing the necessary infrastructure and an
ambience environment to work. We express our profound gratitude to Dr. K Rama
Narasimha, Principal and Dr. Balaji B, Head, Department of Mechanical Engineering,
KSSEM, Bengaluru for providing the necessary infrastructure and an ambience environment
to work.

We are grateful to my guide Mr.Harsha.J, Assistant professor, Department of

Mechanical Engineering, KSSEM, Bengaluru for his/her valuable suggestions and advice
throughout the preparation of seminar presentation and report.

We would also like to thank all the staff members of Department of Mechanical Engineering
for their support and encouragement. Finally, we would like to thank all of our friends
without whose help and encouragement this project would have been impossible.

Definitely most, we want to thank our family. Words cannot express our thanks to our family
members for all their love and encouragement.

VARUN P
1KG15ME057
 ABSTRACT

A Four wheel steering system also known as Quadra steering system. In this paper, both front
wheel and rear wheels can be steered according to speed other vehicle and space available for
turning. Quadra steer gives full size vehicle greater ease while driving at low speed, improves
stability, handling and control at higher speed.
Production-built cars tend to under steer or, in few instances, overseer. If a car could
automatically compensate for an under steer overseer problem, the driver would enjoynearly
neutral steering under varying conditions. Four wheel systems is a serious effort on the part
of automotive design engineers to provide near-neutral steering.
This system finds application in off-highway vehicles such as forklifts, agricultural and
construction equipment mining machinery also in Heavy Motor Vehicles. It is also useful in
passenger cars.
It improves handling and helps the vehicle make tighter turns. This system is used to
minimize the turning radius.
Nowadays, the every vehicle existed mostly still using the two wheel steering system to
control the movement of the vehicle whether it is front wheel drive, rear wheel drive or all
wheel drive. But due to the awareness of safety, four wheel steering vehicles are being used
increasingly due to high performance and stability that they bring to the vehicles. In this
report, the performance of four wheels steered vehicle model is considered which is optimally
controlled during a lane change maneuver in three type of condition which is low speed
maneuver, medium speed maneuver and high speed maneuver. Four-Wheel Steering – Rear
Wheels Control. For parking and low-speed maneuvers, the rear Wheel steer in the opposite
direction of the front wheels, allowing much sharper turns. At higher speeds, the rest wheels
steer in the same direction as the front wheels. The result is more stability and less body lean
during fast lane changes and turns because the front wheels don’t have to drag non-steering
rear wheels onto the path.
 Table of Contents

CHAPTER 1
INTRODUCTION................................................................................................1

CHAPTER 2
LITERATURE SURVEY.....................................................................................3

CHAPTER 3
FOUR WHEEL STEERING SYSTEM PRINCIPLE........................................5
3.1 Davis Steering Mechanism...................................................................5
3.2 Turning Radius..................................................................................... 6
3.3 Understeer.............................................................................................6
3.4 Oversteer...............................................................................................6
3.5 Counter steer.........................................................................................7

CHAPTER 4
STEERING WHEEL CONFIGURATION........................................................ 8
4.1 Types of Steering System.....................................................................8
4.2 Purpose of Automotive Steering System..............................................8
4.3 Requirements of Steering System ....................................................... 8
4.4 Modes in 4WS system ........................................................................ 9
4.5 Rear Wheel Steering ........................................................................... 9
4.6 Passive Rear Wheel Steering ............................................................. 9
4.7 Components and Working ............................................................... 10
4.8 Steering Phase Control Unit ...............................................................11
4.9 Working Mechanism ......................................................................... 12
4.10 Types of 4ws ................................................................................... 13
4.11 Controlling of wheels ...................................................................... 18
4.12 In-phase steering and Counter-phase steering ……………………. 20
CHAPTER 5
5.1 Advantages......................................................................................... 23
5.2 Disadvantages.....................................................................................23
5.3 Fail Safe Measures..............................................................................24
5.4 Applications of 4ws............................................................................25

CHAPTER 6
6.1 Conclusion ………………………………………………………… 27
6.2 Reference ………………………………………………………….. 28
 LIST OF FIGURES

FIGURE 1 4WS.......................................................................................................................................... 10
FIGURE 2 4WS........................................................................................................................................... 11
FIGURE 3 Davis steering....................................................................................................................... 13
FIGURE 4 Understeer.............................................................................................................................. 14
FIGURE 5 Oversteer................................................................................................................................ 14
FIGURE 6 Counter steer.............................................................................................................................. 15
FIGURE 7 Components of steering system..................................................................................... 16
FIGURE 8 4WS mechanism.................................................................................................................. 18
FIGURE 9 Mechanical 4WS................................................................................................................. 19
FIGURE 10 Hydraulic 4WS.................................................................................................................. 20
FIGURE 11 Electro hydraulic 4WS................................................................................................... 20
FIGURE 12 Car at low speed................................................................................................................ 21
FIGURE 13 Car at high speed.............................................................................................................. 22
FIGURE 14 In phase steering............................................................................................................... 22
FIGURE 15 Counter phase steering...............................................................................23
FIGURE 16 Car in various modes..................................................................................24
FIGURE 17 Parallel parking...........................................................................................24
FIGURE 18 Line changing ............................................................................................25
FIGURE 19 Jeep hurican........................................................................................................................ 26
 Four wheel steering system 2019-2020

Chapter-1

1. INTRODUCTION

Four-wheel steering, 4WS, also called rear-wheel steering or all-wheel steering,

provides a means to actively steer the rear wheels during turning maneuvers. It should
not be confused with four-wheel drive in which all four wheels of a vehicle are
powered. It improves handling and helps the vehicle make tighter turns. Production-
built cars tend to under steer or, in few instances, over steer. If a car could
automatically compensate for an under steer/over steer problem, the driver would
enjoy nearly neutral steering under varying conditions. 4WS is a serious effort on the
part of automotive design engineers to provide near-neutral steering. The front wheels
do most of the steering. Rear wheel turning is generally limited to 5 0-60 during an
opposite direction turn. During a same direction turn, rear wheel steering is limited to
about 10-1.50.
When both the front and rear wheels steer toward the same direction, they are said to
be in-phase and this produces a kind of sideways movement of the car at low speeds.
When the front and rear wheels are steered in opposite direction, this is called anti-
phase, counter-phase or opposite-phase and it produces a sharper, tighter turn.
Steering is a system that is used in most type of transport to control the movement of
the vehicle. Steering mechanism is the vehicle movement control system that includes
few main components which are the steering wheel, the steering column, the steering
rack and the vehicle

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 10

 Four wheel steering system 2019-2020

Fig 1 :4WS

Fig 2: 4WS

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 11

 Four wheel steering system 2019-2020

Chapter-2

2. LITERATURE REVIEW
1. Kumar and Kamble (2014) states that “At slow speeds, the rear wheels turn in
the direction opposite to the front wheels. This mode becomes particularly
useful in case of pick-up trucks and buses, more so when navigating hilly
regions. It can reduce the turning circle radius by 25% and can be equally
effective in congested city conditions, where U-turns and tight streets are
made easier to navigate.”
2. Lohith, Shankapal and Gowda (2013) found that “At high speed, when
steering adjustments are subtle, the front wheels and the rear wheels turn in the
same direction. As a result, the vehicle moves in a crab like manner rather than
in a curved path. This action is advantageous to the vehicle while changing
lanes on a high-speed road. The elimination of the centrifugal effect and in
consequence the reduction of body roll and cornering force on the tire,
improves the stability of the car so that control becomes easier and safer”. He
also found and revealed comparison with a conventional two-wheel steering
system, the advantages offered by a fourwheel steering system include:
 Improved steering responsiveness and precision.
 High speed straight line stability.
 Notable improvement in rapid lane changing maneuvers.
 Smaller turning radius and tight space maneuverability at low speed.
 Relative wheel angles and their control.
3. Bhishikar, Gudhka, Dalal, Mehta, Bhil, Mehta (2014) stated that “The 4WS
system performs two distinct operations: inphase steering, whereby the rear
wheels are turned in the same direction as the front wheels, and counter phase
steering, whereby the rear wheels are turned in the opposite direction. The
4WS system is effective in the following situations
 Lane Changes.
 Gentle Curves.
 Junctions.
 Narrow Roads.

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 12

 Four wheel steering system 2019-2020

 U-Turn.
 Parallel Parking.
4. According to Ruban, kumar, Shanmugavelan, Srinath and Ramesh (2017), the
condition for perfect steering is “While taking a turn, the condition of perfect
rolling motion will be satisfied if all the four-wheel axes when projected at
one point called the instantaneous centre, and when the following equation is
satisfied: Cotφ – Cotθ = c/b”.

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 13

 Four wheel steering system 2019-2020

Chapter-3

Four wheel steering system principle:

3.1 Davis Steering Mechanism

The Davis gear mechanism consists of a cross link KL sliding parallel to another link
AB and is connected to the stub axles of the two front wheels by means of two similar
bell crank levers ACK and DBK pivoted at A and B respectively. The cross link KL
slides insides in the bearing and carries pins at its end K and L. The slide blocks are
pivoted on these pins and move with the turning of bell crank levers as the steering
wheel is When the vehicle is running straight, the gear said to in its mid-position. The
short arms AK and BL are inclined an angle 90+α to their stub axles AC and BD. The
correct steering depends upon a suitab1e selection of cross-arm angle α, and is given
tan α = b / 2l
Where b=AB=distance between the pivots of front axles.
l=wheel base.
The range of b / l is 0.4 to 0.5 hence angle α lies between 11.3 and 14.10.

Fig 3: Davis steering

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 14

 Four wheel steering system 2019-2020

3.2 Turning Radius

The turning radius or turning circle of a vehicle is the diameter of the smallest circular
turn (i.e. U-turn) that the vehicle is capable of making.
Turning circle radius = (track/2) + (wheelbase/ sin (average steer angle))

3.3 UNDERSTEER
When the slip angle of front wheels is greater than slip angle of rear wheels vehicle
understeers. Thus the vehicle goes out of the circle of steering. Most vehicle
manufacturers set the vehicle profile with some understeer.

Fig 4: Understeer

3.4 OVERSTEER
Over steer is defined when the slip angle of front wheel is less than the slip angle
ofrear wheel. This makes the vehicle move inside the circle of steer. This is a far

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 15

 Four wheel steering system 2019-2020

danger situation than understeer.

Fig 5: Oversteer

Fig 6: Countersteer

3.5 Neutral Steer Or Countersteer

Counter-steering can defined as when the slip angle of front wheels is equal to slip

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 16

 Four wheel steering system 2019-2020

angle of rear wheel. The vehicle follows the line with utmost stability.

Chapter - 4
Steering Wheel Configurations
4.1 Types of Steering System:
 Conventional Steering System:
In that steering system, only the front wheels are steered towards right or left
According to the requirement because of at rear their dead axle is present.
 Four Wheel Steering System:
In that steering system, the all four wheels are to be steered according to the steer
perform to drive towards left or right. Four-wheel steering, 4WS, also called rear-
wheel steering or all-wheel steering, provides a means to actively steer the rear wheels
during turning maneuvers. It should not be confused with four-wheel drive in which
all four wheels of a vehicle are powered. It improves handling and helps the vehicle
make tighter turns. Production-built carstend to under steer or, in few instances, over
steer. If a car could automatically compensate for an under steer /over steer problem,
the driver would enjoy nearly neutral steering under varying conditions.
In most active four wheel steering system, the rear wheels are steered by a computer
and actuators, the rear wheels generally cannot turn as far as the front wheels. Some
systems including Delphi’s Quadra steer and the system in Honda’s Prelude line allow
the rear wheels to be steered in the opposite direction as the front wheels during low

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 17

 Four wheel steering system 2019-2020

speeds. This allows the vehicle to turn in a significantly smaller radius sometimes
critical for large tucks or tractors and vehicles with trailers.
4.2 Purpose of Automotive Steering System:
The purpose of the steering system allows the driver to control the direction of the
vehicle by turning the front wheels. The steering system consists of the following
component
parts.
4.3 Requirements of steering system:
The steering system has the following requirements.
1. Excellent manoeuvrability when the vehicle is cornering on a narrow, twisting
road, the steering system must be able to turn the front wheels sharply yet easily and
smoothly.
2. Proper steering effort if nothing is done to prevent it, steering effort will be greater
when the vehicle is stopped and will decrease as the speed of the vehicle increase.
Therefore, in order to obtain easier steering and better feel of the road, the steering
should be made lighter at low speeds and heavier at high speeds.
3. Minimum transmission of shock from road surface Loss of steering wheel control
and transmission of kickback due to road surface roughness must not occur.

4.4 Modes in 4WS system:

 Four Wheel Steer

In Four Wheel Steer mode the rear wheels will always follow the front ones and will
give the tightest turning circle. You may switch to and from this position at any time
in the field and the rear wheels will re-align automatically regardless of the front
wheel position.
 Crab Steer
Crab steering is a special type of active fourwheel steering. It operates by steering all
wheels in the same direction and at the same angle. Crab steering is used when the
vehicle needs to proceed in a straight line but under an angle (i.e. when moving loads
with a reach truck, or during filming with a camera dolly), or when the rear wheels
may not follow the front wheel tracks
4.5 Rear Wheel Steering

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 18

 Four wheel steering system 2019-2020

A few types of vehicle use only rear wheel steering, notably fork lift trucks, camera
dollies, early pay loaders, Buckminster Fuller's Dymaxion car, and the Thrusts SC.M
Rear wheel steering tends to be unstable because in turns the steering geometry
changes hence decreasing the turn radius (oversteer), rather than increase it
(Understeer). A rear wheel steered automobile exhibits non-minimum phase behavior.
It turns in the direction opposite of how it is initially steered. A rapid steering input
will cause two accelerations, first in the direction that the wheel is steered, and then in
the opposite direction: a "reverse response." This makes it harder to steer a rear wheel
steered vehicle at high speed than a front wheel steered vehicle.
4.6 Passive Rear Wheel Steering
Many modern vehicles offer a form of passive rear steering to counteract normal
vehicle tendencies. For example, Subaru used a passive steering system to correct for
the rear wheel's tendency to toe-out. On many vehicles, when cornering, the rear
wheels tend to steer slightly to the outside of a turn, which can reduce stability. The
passive steering system uses the lateral forces generated in a turn (through suspension
geometry) and the bushings to correct this tendency and steer the wheels slightly to
the inside of the corner. This improves the stability of the car, through the turn. This
effect is called compliance Understeer and it, or its opposite, is present on all
suspensions.
4.7 Components and Working

Fig 7: Components of steering system

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 19

 Four wheel steering system 2019-2020

Components

Vehicle speed sensors Interpret speedometer shelf revolutions and send signal to the
electronic computer unit. Two sensors, one within the speedometer and the other at
the transmission output, are used to crosscheck the other for accuracy and failsafe
measures.

Steering phase control unit conveys to the power steering cylinder booster valve the
direction and stroke of rear wheel steering by the combined movement of the control
yoke angle and bevel gear revolutions.
Electric stepper motor Performs altering of the yoke angle and bevel gear phasing

Rear steering shaft Transmits front wheel steering angle by turning the small bevel
gear in the steering phase control unit, which rotates the main bevel gear in the
assembly.

Control valve Feeds hydraulic pressure to the steering actuator, according to the phase
and stroke required for appropriate rear wheel steering.

Hydraulic power cylinder operates the output rod by hydraulic pressure and steers the
rear wheels. It locks the rear wheels in a "neutral"(straightforward) position with the
centering lock spring, which is activated by a solenoid valve in case of failure to
ensure a normal 2WS
Function for the vehicle hydraulic pump provides hydraulic pressure to both the front
and rear steering systems.

4.8 Steering Phase Control Unit

The steering phase control unit alters the direction and degree of rear wheel steering.
It consists of a stepper motor that controls the rear steering ratio, a control yoke, a
swing arm, a main bevel gear engaged to the rear steering shaft via a small bevel gear,
and a control rod connected to the control valve. It operates:

 Opposite phase (direction) steering under 35km/h (22mph)

 Control Yoke is at an angle activated by the stepper motor

 Front wheels are steered to the right. The small bevel gear is rotated in
direction X by the rotation of the rear steering shaft. The small bevel gear,
in turn, rotates the main bevel gear.

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 20

 Four wheel steering system 2019-2020

 Rotation of the main bevel gear causes movement of the control rod
toward the control valve.
 Input rod of the control valve is pushed to the right, according to the
degree of the control rod's movement which is positioned to move in an
upward direction, to the right. The rear wheels are thus steered to the left,
in an opposite direction to the front wheels.
 As the angle of the control yoke is increased in direction A as vehicle
speed decreases, the rear- wheels, thereby generating an increased
cornering force for stability.
 The maximum steering angle of the rear wheels extends 10 degrees.

Fig 8: 4WS mechanism

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 21

 Four wheel steering system 2019-2020

4.9 Working Mechanism

 Consists of a rack-and-pinion front steering system that is
hydraulically assisted by a twin- tandem pump main power source.
 The rear wheel steering mechanism is also hydraulically assisted
by the main pump and electronically controlled - according to the
front steering angle and vehicle speed.

 The rear steering shaft extends from the rack bar of the front
steering gear assembly to the rear steering-phase control unit.
 The rear steering system is comprised of the input end of the rear
steering shaft, vehicle speed sensors, a steering-phase control unit
(determining direction and degree), a power cylinder and an output
rod
 A centering lock spring is incorporated, which locks the rear
system in a neutral (straightforward) position in the event of
hydraulic failure. Additionally, a solenoid valve that disengages
hydraulic assist (thereby activating the centering lock spring) in
case of an electrical failure is included.
 The 4WS system varies the phase and ratio of the rear-wheel
steering to the front wheels, according to the vehicle speed.
 It steers the rear wheels toward the opposite phase (direction) of
the front wheel during speeds less than 35km/h (22mph) for a
tighter turn and "neutralizes" them (to a straightforward direction,
as in a conventional two-wheel steering principle) at 35km/h
(22mph).
 Above the speed of 35 km/h, the system steers toward the same
phase-direction as the front.

4.10 TYPES OF 4WS

There are three types of production of four-wheel steering systems:
1. Mechanical 4WS
2. Hydraulic 4WS
3. Electro-hydraulic 4WS

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 22

 Four wheel steering system 2019-2020

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 23

 Four wheel steering system 2019-2020

1. Mechanical 4WS

Fig 9: Mechanical 4WS

In a straight-mechanical type of 4WS, two steering gears are used-one for the front
and the other for the rear wheels. A steel shaft connects the two steering gearboxes
and terminates at an eccentric shaft that is fitted with an offset pin. This pin engages a
second offset pin that fits into a planetary gear.

The planetary gear meshes with the matching teeth of an internal gear that is secured
in a fixed position to the gearbox housing. This means that the planetary gear can
rotate but the internal gear cannot. The eccentric pin of the planetary gear fits into a
hole in a slider for the steering gear.
A 120-degree turn of the steering wheel rotates the planetary gear to move the slider
in the same direction that the front wheels are headed. Proportionately, the rear
wheels turn the steering wheel about 1.5 to 10 degrees. Further rotation of the steering
wheel, past the 120degree point, causes the rear wheels to start straightening out due
to the double-crank action (two eccentric pins) and rotation of the planetary gear.
Turning the steering wheel to a greater angle, about 230 degrees, finds the rear wheels
in a neutral position regarding the front wheels. Further rotation of the steering wheel

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 24

 Four wheel steering system 2019-2020

maximum counter phase rear steering is possible. Mechanical 4WS is steering angle
sensitive. It is not sensitive to vehicle road speed.

2. Hydraulic 4WS

Fig 10: Hydraulic 4WS

The hydraulically operated four-wheel-steering system is a simple design, both in

components and operation. The rear wheels turn only in the same direction as the
front wheels. They also turn no more than 11/2 degrees. The system only activates at
speeds above 30 mph (50 km/h) and does not operate when the vehicle moves in
reverse.
A two-way hydraulic cylinder mounted on the rear stub frame turn the wheels. Fluid
for this cylinder is supplied by a rear steering pump that is driven by the differential.
The pump only operates when the front wheels are turning. A tank in the engine
compartment supplies the rear steering pump with fluid.
When the steering wheel is turned, the front steering pump sends fluid under pressure
to the rotary valve in the front rack and pinion unit. This forces fluid into the front

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 25

 Four wheel steering system 2019-2020

power cylinder, and the front wheels turn in the direction steered. The fluid pressure
varies with the turning of the steering wheel. The faster and farther the steering wheel
is turned, the greater the fluid pressure.
The fluid is also fed under the same pressure to the control valve where it opens a
spool valve in the control valve housing. As the spool valve moves, it allows fluid
from the rear steering pump to move through and operate the rear power cylinder. The
higher the pressure on the spool, the farther it moves. The farther it moves, the more
fluid it allows through to move the rear wheels. As mentioned earlier, this system
limits rear wheel movement to 11/2 degrees in either the left or right direction.

3. Electro-hydraulic 4WS

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 26

 Four wheel steering system 2019-2020

Fig 11: Electro-hydraulic 4WS

Several 4WS systems combine computer electronic controls with hydraulics to make
the system sensitive to both steering angle and road speeds. In this design, a speed
sensor and steering wheel angle sensor feed information to the electronic control unit
(ECU). By processing the information received, the ECU commands the hydraulic
system steer the rear wheels. At low road speed, the rear wheels of this system are not
considered a dynamic factor in the steering process.
At moderate road speeds, the rear wheels are steered momentarily counter phase,
through neutral, then in phase with the front wheels. At high road speeds, the rear
wheels turns only in phase with the front wheels. The ECU must know not only road
speed, but also how much and quickly the steering wheel is turned. These three
factors - road speed, amount of steering wheel turn, and the quickness of the steering
wheel turn - are interpreted by the ECU to maintain continuous and desired steer

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 27

 Four wheel steering system 2019-2020

angle of the rear wheels.

The basic working elements of the design of an electro-hydraulic 4WS are control
unit, a stepper motor, a swing arm, a set of beveled gears, a control rod, and a control
valve with an output rod. Two electronic sensors tell the ECU how fast the car is
going.
The yoke is a major mechanical component of this electro-hydraulic design. The
position of the control yoke varies with vehicle road speed. For example, at speeds
below 33 mph (53 km/h), the yoke is in its downward position, which results in the
rear wheels steering in the counter phase (opposite front wheels) direction. As road
speeds approach and exceed 33 mph (53 km/h), the control yoke swings up through a
neutral (horizontal) position to an up position. In the neutral position, the rear wheels
steer in phase with the front wheels.
The stepper motor moves the control yoke. A swing arm is attached to the control
yoke. The position of the yoke determines the arc of the swing rod. The arc of the
swing arm is transmitted through a control arm that passes through a large bevel gear.
Stepper motor action eventually causes a push-or-pull movement of its output shaft to
steer the rear wheels up to a maximum of 5 degrees in either direction.
The electronically controlled, 4WS system regulates the angle and direction of the
rear wheels in response to speed and driver's steering. This speed-sensing system
optimizes the vehicle's dynamic characteristics at any speed, thereby producing
enhanced stability and, within certain parameters, agility.

4.11 Controlling of wheels

 Slow speed

At Slow Speeds rear wheels turn in direction opposite to that of front wheels.
This mode is used for navigating through hilly areas and in congested city
where better cornering is required for U turn and tight streets with low turning
circle which can be reduced as shown in Fig

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 28

 Four wheel steering system 2019-2020

Fig 12: Car at slow speed

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 29

 Four wheel steering system 2019-2020

Fig 13: Car at high speed

 High speed

At High Speeds, turning the rear wheels through an angle opposite to front
wheels might lead to vehicle instability and is thus unsuitable. Hence the rear
wheels are turned in the same direction of front wheels in four-wheel steering
systems. This is shown in Fig

4.12 In-phase steering and Counter-phase steering

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 30

 Four wheel steering system 2019-2020

Fig 14: In phase steering Fig 15: Counter phase steering

The 4WS system performs two distinct operations: in- phase steering, whereby
the rear wheels are turned in the same direction as the front wheels, and
counter phase steering, whereby the rear wheels are turned in the opposite
direction. The 4WS system is effective in the following situations:
 Lane Changes
 Gentle Curves
 Junctions
 Narrow Roads
 U-Turns
 Parallel Parking

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 31

 Four wheel steering system 2019-2020

Fig 16: Car in Various Modes

 U-Turns
By minimizing the vehicle‟s turning radius, counter-phase steering of the rear wheels
enables U-turns to be performed easily on narrow roads.
 Parallel Parking
Zero steer can significantly ease the parking process, due to its extremely short
turning footprint. This is exemplified by the parallel parking scenario, which is
common in foreign countries and is pretty relevant to our cities. Here, a car has to
park it between two other cars parked on the service lane. This maneuver requires a
three-way movement of the vehicle and consequently heavy steering inputs.
Moreover, to successfully park the vehicle without incurring any damage, at least 1.75
times the length of the car must be available for parking for a two-wheel steered car.

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 32

 Four wheel steering system 2019-2020

Fig 17: Parallel parking

 High Speed Lane Changing

Another driving maneuver that frequently becomes cumbersome and even dangerous
is changing lanes at fairly high speeds. Although this is less steering intensive, this
does not require a lot concentration from the driver since he has to judge the space
and vehicles behind him. Here is how crab mode can simplify this action as shown in
Figure.

Fig 18: Lane Changing

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 33

 Four wheel steering system 2019-2020

CHAPTER 5

5.1 Advantages

 The vehicle's cornering behavior becomes more stable and controllable at high
speeds as well as on wet or slippery road surfaces.

 The vehicle's response to steering input becomes quicker and more precise
throughout the vehicle's entire speed range.

 The vehicle's straight-line stability at high speeds is improved. Negative

effects of road irregularities and crosswinds on the vehicle's stability are
minimized.

 Stability in lane changing at high speeds is improved. The vehicle is less

likely to go into a spin even in situations in which the driver must make a
sudden and relatively large change of direction.

 By steering the rear wheels in the direction opposite the front wheels at low
speeds, the vehicle's turning circle is greatly reduced. Therefore, vehicle
maneuvering on narrow roads and during parking becomes easier.

5.2 Disadvantages
 The effect that it produces is not felt significantly at low speed or in
commercial cars but in heavy vehicles like trucks and towing vans it provides
significant lane changing and low speed maneuverability. Its mechanism is
extensively complex. Although many designs have been brought forward so
far, none has the right combination of simple design, low maintenance with
low cost.

 The 4ws, due to construction of many new components, the system becomes
more expensive.

The system includes as many components there is always a chance to

get any of the part inactive, thus the system become in operative.

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 34

 Four wheel steering system 2019-2020

5.3 Fail-safe measures

 All 4WS systems have fail-safe measures. For example, with the electro-
hydraulic setup, the system automatically counteracts possible causes of
failure: both electronic and hydraulic, and converts the entire steering system
to a conventional two-wheel steering type. Specifically, if a hydraulic defect
should reduce pressure level (by a movement malfunction or a broken driving
belt), the rear-wheel-steering mechanism is automatically locked in a neutral
position, activating a low-level warning light.

 In the event of an electrical failure, it would be detected by a self-diagnostic

circuit integrated in the four wheel-steering control unit. The control unit
stimulates a solenoid valve, which neutralizes hydraulic pressure, thereby
alternating the system to two-wheel steering. The failure would be indicated
by the system's warning light in the main instrument display.

 On any 4WS system, there must be near-perfect compliance between the

position of the steering wheel, the position of the front wheels, and the
position of the rear wheels. It is usually recommended that the car be driven
about 20 feet (6 meters) in a dead-straight line. Then, the position of the
front/rear wheels is checked with respect to steering wheel position. The base
reference point is a strip of masking tape on the steering wheel hub and the
steering column. When the wheel is positioned dead center, draw a line down
the tape. Run the car a short distance straight ahead to see if the reference line
holds. If not, corrections are needed, such as repositioning the steering wheel.

 Even severe imbalance of a rear wheel on a speed sensitive 4WS system can
cause problems and make basic troubleshooting a bit frustrating.

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 35

 Four wheel steering system 2019-2020

5.4 APPLICATIONS OF 4WS

Some of the vehicles in which the 4WS is applied are:
1. Chevrolet Suburban 2500:
 The purely electronic system works so that, at low speed, the rear wheels turn
the opposite direction of the front wheels, thus shortening the turning circle.
At higher speeds all four wheels turn in the same direction for better stability
in lane change maneuvers. The system works spectacularly well with the
Suburban and the turning circle diameter drops down from 44.5 feet to 35.2
feet. There is a switch to turn the system off and the Suburban drives like a
regular two-wheel steering machine and, in contrast, it feels quite ponderous.

 Unfortunately the four-wheel steering system also pushes the width of the
Sub out past 80 inches. But the very worst thing about the four-wheel steering
system is its $4495 option cost. Hopefully as the four-wheel steering system
becomes more ubiquitous across the GM range of products the cost of the
system will drop.

2. GM Concept Truck:

 QUADRASTEERTM (four-wheel steering system) by Delphi is featured on

General Motor Corp.'s GMC Terradyne concept vehicle.
QUADRASTEERTM by Delphi is an electronic four-wheel steering system
that enables vehicles to significantly improve handling and maneuverability in
full-size vehicles. Based on tests with full-size SUVs and pickup trucks,
QUADRASTEER by Delphi reduces the minimum turning circle diameter by
an average of 19 percent. In fact, one full-size pickup's turning radius was
reduced from 46.2 feet to 37.4 feet, making it comparable to a Nissan Ultima
at 37.4 feet and a Saturn Coupe at 37.1 feet.

 QUADRASTEERTM by Delphi combines conventional front-wheel steering

with an electrically powered rear-wheel steering system. The system has four
main components - a front-wheel position sensor, steerable solid hypoid rear
axle, electric motor-driven actuator, and control unit. Hand wheel position
and vehicle speed sensors continuously report data to the control unit, which

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 36

 Four wheel steering system 2019-2020

in turn determines the appropriate angle of the rear wheels. Algorithms are
then used to determine the correct phase of operation. The
QUADRASTEERTM by Delphi Systems also provides a controlled return to
regular two-wheel steering if the four-wheel steering system is damaged.

3. Jeep Hurricane:

 The Jeep Hurricane, a radical off-road machine with two 5.7 litre V8 engines
features a turn radius of absolutely zero, using skid steer capability and toe
steer: the ability to turn both front and rear tires inward. In addition, the
vehicle features two modes of automated four-wheel steering.
 The first is traditional with the rear tires turning in the opposite direction of
the front to reduce the turning circle. The second mode is an innovation
targeted to off-road drivers: the vehicle can turn all four wheels in the same
direction for nimble crab steering. This allows the vehicle to move sideways
without changing the direction the vehicle is pointing. The multi-mode four-
wheel steering system offers killer performance and maneuverability.

Fig19: Jeep Hurricane

CHAPTER 6

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 37

 Four wheel steering system 2019-2020

6.1 CONCLUSION

 Four wheel steering is a relatively new technology, that

imposes maneuverability in cars, trucks and trailers .in
standard two wheels steering vehicles, the rear set of wheels
are always directed forward therefore and do not play an
active role in controlling the steering in four wheel steering
system the rear wheel can turn left and right . To keep the
driving controls as simple as possible.
 The aim of 4WS system is a better stability during overtaking
maneuvers, reduction of vehicle oscillation around its vertical
axis, reduced sensibility to lateral wind, neutral behavior
during cornering, etc., i.e. improvement of active safety.
 Thus the four-wheel steering system has got cornering capability,
steering response, straight-line stability, lane changing and low-speed
maneuverability. Even though it is advantageous over the conventional
two-wheel steering system, 4WS is complex and expensive. Currently
the cost of a vehicle with four wheel steering is more than that for a
vehicle with the conventional two wheel steering. Four wheel steering
is growing in popularity and it is likely to come in more and more new
vehicles. As the systems become more commonplace the cost of four
wheel steering will drop.

6.2 REFERENCES

1. F. Vlk, “Dynamika motorových vozidel”,Nakladatelstvía zasilatelství

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 38

 Four wheel steering system 2019-2020

VLK, Brno, 2001

2. S. C. Chang, “Synchronization in a steer-by-wire vehicle dynamic
system”, International journal of engineering science, 45(2-8), 628-643,
2007
3. C. D. Gadda, P. Yih, J. C. Gerdes, “Incorporating a model of vehicle
dynamics in a diagnostic system for steer-by-wire vehicles”, 2004
4. T. Hiraoka, O. Nishihara, H. Kumamoto, Automatic path-tracking
controller of a four- wheel steering vehicle, Vehicle System Dynamics,
47(10), 1205-1227, 2009
5. H. S. Kim, S. S. You, “Estimation of Vehicle Sideslip Angle for Four-
Wheel Steering Passenger Cars”, Transactions on Control, Automation and
Systems Engineering, 3, 71-76, 2001
6. M. Kreutz, M. Horn, J. Zehetner, “Improving vehicle dynamics by active
rear wheel steering systems”, Vehicle System Dynamics, 47(12), 1551-
1564, 2009
7. R. B. Gupta, “Automobile Engineering, Satya Prakashan”, New Delhi, pp
3-8 and 571-579, 2007
8. K. Singh, “Automobile Engineering Vol. 1, Standard Publishers
Distributors, New Delhi, pp 448-453, 463-471, 2008
9. Y. G. Cho, “Vehicle steering returnability with maximum steering wheel
angle at low speeds”, International Journal of Automotive Technology,
10(4), pp 431−439, 2009
10. http://www.parker hire.co.uk/cy/large_excavato rs.html
11.http://auto.howstuffworks.com/jeep-hurricane2. html
12. R. S. Khurmi, J. K. Gupta, “A text book of Machine Design.
13. Eurasia Publishing house (PVT.) Ltd”, First multi color edition,
pp 576-586 658-679, 1037-1040, 2005

DEPT. OF MECHANICAL ENGINEERING, KSSEM PAGE 39