International

OPEN ACCESS Journal

Of Modern Engineering Research (IJMER)

Study of Four Wheel Steering Mechanism

Prof. Parihar Amol A.1, Prof. Bankar Nandkishor D.2
*(Department Of Mechanical Engineering, MGM’s Polytechnic Aurangabad, India.)
** (Department Of Mechanical Engineering, MGM’s Polytechnic Aurangabad, India.)

ABSTRACT: Nowadays most of the vehicles use the two wheel steering mechanism as their main
handling system. But the efficiency of the two wheel steering vehicle is proven to be low compared to
the four wheel steering vehicles. Four wheel steering system can be employed in some vehicles to
improve steering response, increase vehicle stability while moving at certain speed, or to decrease
turning radius at low speed. Four-wheel steering is a technologically, tremendous effort on the part of
automotive design engineers to provide near-neutral steering. In situations like low speed cornering,
vehicle parking and driving in city conditions with heavy traffic in tight spaces, high speed lane
changing would be very difficult due to vehicle’s larger wheelbase and track width which brings high
inertia and traction into consideration. Hence there is a requirement of a mechanism which result in
less turning radius and it can be achieved by implementing four wheel steering mechanism instead of
regular two wheel steering. 4-Wheel Steering System is not a new technology but it has not gained
popularity over 2-Wheel Steering System even though experiments have proved that it has excellent
maneuverability, high stability and it is a solution to oversteer/understeer.[1]
Keywords: Understeer/Oversteer, Turning radius, 2 Wheel steering system, 4 Wheel steering system ,
Wheel Configurations.

I. INTRODUCTION
Four wheel steering is a method developed in automobile industry for the effective turning of the
vehicle and to increase the maneuverability. In a typical front wheel steering system the rear wheels do not turn
in the direction of the curve and thus curb on the efficiency of the steering. In four wheel steering the rear
wheels turn with the front wheels thus increasing the efficiency of the vehicle. The direction of steering the rear
wheels relative to the front wheels depends on the operating conditions [1]. At low speed wheel movement is
pronounced, so that rear wheels are steered in the opposite direction to that of front wheels. At high speed, when
steering adjustments are subtle, the front wheels and the rear wheels turn in the same direction. By changing the
direction of the rear wheels there is reduction in turning radius of the vehicle which is efficient in parking, low
speed cornering and high speed lane change. In city driving conditions the vehicle with higher wheelbase and
track width face problems of turning as the space is confined, the same problem is faced in low speed cornering.
Usually customers pick the vehicle with higher wheelbase and track width for their comfort and face these
problems, so to overcome this problem a concept of four wheel steering can be adopted in the vehicle. Four
wheel steering reduces the turning radius of the vehicle which is effective in confined space, in this project four
wheel steering is adopted for the existing vehicle and turning radius is reduced without changing the dimension
of the vehicle. [2]

II. BACKGROUND THEORY

The most effective type of steering, this type has all the four wheels of the vehicle used for steering
purpose. In a typical front wheel steering system the rear wheels do not turn in the direction of the curve and
thus curb on the efficiency of the steering. Normally this system is not been the preferred choice due to
complexity of conventional mechanical four wheel steering systems. However, a few cars like the Honda
Prelude, Nissan Skyline GT-R have been available with four wheel steering systems, where the rear wheels turn
by an angle to aid the front wheels in steering.
However, these systems had the rear wheels steered by only 2 or 3 degrees, as their main aim was to
assist the front wheels rather than steer by themselves. With advances in technology, modern four wheel
steering systems boast of fully electronic steer-by-wire systems, equal steer angles for front and rear wheels, and
sensors to monitor the vehicle dynamics and adjust the steer angles in real time. Although such a complex four
wheel steering model has not been created for production purposes, a number of experimental concepts with
some of these technologies have been built and tested successfully. The idea behind four-wheel steering is that a

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 Study Of Four Wheel Steering Mechanism

vehicle requires less driver input for any steering maneuver if all four wheels are steering the vehicle. As with
two wheel-steer vehicles, tire grip holds the four wheels on the road.
However, when the driver turns the wheel slightly, all four wheels react to the steering input, causing
slip angles to form at all four wheels. The entire vehicle moves in one direction rather than the rear half
attempting to catch up to the front. There is also less sway when the wheels are turned back to a straight-ahead
position. The vehicle responds more quickly to steering input because rear wheel lag is eliminated. The direction
of steering the rear wheels relative to the front wheels depends on the operating conditions. At low speed wheel
movement is pronounced, so that rear wheels are steered in the opposite direction to that of front wheels. This
also simplifies the positioning of the car in situations such as parking in a confined space. Since the rear wheels
are made to follow the path on the road taken by the front wheels, the rear of a four wheel steering car does not
turn in the normal way. Therefore the risk of hitting an obstacle is greatly reduced. 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.[2]

III. STEERING SYSTEM

Steering mechanism is used to give the required path and achieve a perfect steering condition. The
main function of the steering system is to achieve angular motion of the front wheels to negotiate a turn. For
steering linkages and steering gear used which convert the rotary motion of steering wheel into angular motion
of the front road wheels.[2]

3.1 Function of the steering system :-

1. To control direction of motion of the vehicle
2. To give directional stability for vehicle while going straight ahead.
3. To enables straight ahead condition of the vehicle after completing a turn.
4. The road irregularities must be damped to the maximum possible extent. This should co-exist the road feel
for the driver so that he can feel the road condition without experiencing the effects of moving over it.
5. To reduce tire wear and increase the life of the tire.

3.2 Steering requirement:-

1. The steering should be very accurate and easy to handle.
2. The effort should be minimal and must not be tiresome to the driver.
3. Should provide directional stability. This implies that the vehicle should have a tendency to return to its
straight ahead position after turning.

3.3 Zero turn radius vehicles:-

Zero turn vehicles takes the sharp turn about a vertical axis passing through its center of gravity .For
zero turn vehicle there is no need of additional space .The vehicle rotate in the circle having diameter equal to its
length .The requirement of additional space is neglected. This system is used in jeep hurricane, Tata nanopixel,
JCB, lawn mower. [3]

IV. STEERING WHEEL CONFIGURATION

The various types of steering wheel configuration are as follows:-
 Two Wheel Steer:- In this mode only one axle is driven.
 Four wheel steer:- In this both axle are driven but in direction opposite to each other.
 Crab steer:- When all the wheels turn in same direction it is known as crab steer.
 Zero turn steer-: In this mode vehicle follows the circular path.[4]

Fig.1. Steering wheel configurations

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 Study Of Four Wheel Steering Mechanism

V. STEERING PRINCIPLE AND COMPONENTS

5.1 Ackerman Steering Mechanism
With perfect Ackermann, at any angle of steering, the perpendicular line through the centre point of all
the wheels will meet at a common point. But this may be difficult to arrange in practice with simple linkages.
Hence, modern cars do not use pure Ackermann steering, partly because it ignores important dynamic and
compliant effects, but the principle is sound for low speed manoeuvres.[5]

5.2 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]

5.3 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.[3]

Understeer Oversteer Countersteer

Fig.2. Understeer, Oversteer and Countersteer.

5.4 Oversteer
Over steer is defined when the slip angle of front wheel is less than the slip angle of rear wheel. This
makes the vehicle move inside the circle of steer. This is a far dangerous situation than understeer.

5.5 Neutral Steer OR Countersteer

Counter-steering can defined as when the slip angle of front wheels is equal to slip angle of rear wheel.
The vehicle follows the line with utmost stability.[5]

VI. DESIGN AND UNDERSTANDING OF FOUR WHEEL STEERING

The idea behind four wheel steering is that a vehicle requires less driver input for any steering
manoeuvre if all four wheels are steering the vehicle. As with two wheel steer vehicles, tyre grip holds the four
wheels on the road. However, when the driver turns the wheel slightly, all four wheels react to the steering
input, causing slip angles to form at all four wheels. The entire vehicle moves in one direction rather than the
rear half attempting to catch up to the front. The vehicle responds more quickly to steering input because rear
wheel lag is eliminated. To find the vehicle‟s turning radius „R‟, we may define equivalent bicycle models as
shown in Figure below for positive 4-Wheel Steering vehicles. The radius of turn „R‟ is perpendicular to the
vehicle‟s velocity vector „v‟ at the mass centre „C‟.[7]

Fig. 3.Geometry of Four Wheel Steering

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 Study Of Four Wheel Steering Mechanism

VII. COMPARED OF 4 WHEEL SYSTEM WITH 2 WHEEL CONVENTIONAL SYSTEM

1. Car more efficient and stable on cornering.
2. Improved steering responsiveness and precision.
3. High speed straight line stability.
4. Notable improvement in rapid, easier, safer lane changing maneuvers.
5. Smaller turning radius and tight space manoeuvrability at low speed.
6. Relative Wheel Angles and their Control.
7. Risk of hitting an obstacle is greatly reduced.[6]

VIII. ADVANTAGES
1. Improved steering responsiveness and precision.
2. High speed straight line stability.
3. Relative wheel angles and their control.
4. Superior cornering stability.
5. Notable improvement in rapid lane changing manoeuvres.
6. Smaller turning radius and tight space manoeuvrability at low speed.[8]

IX. APPLICATION
1. Parallel parking: Due to smaller turning radius the parking and un parking of vehicle is easily performed
towards the right or left side.
2. High speed lane changing: In this is less steering sensitive this does require a lot of concentration from driver
since he has to judge the space and vehicles behind them.[2]
3. Slippery road surfaces: Due to the rear wheel steering operation on low friction surfaces occurs hence vehicle
direction easier to control.
4. Narrow Roads: Due to rear wheel steering on narrow roads with tight bends, counter phase steering reduces
the turning radius.[6]
5. U-Turns: By minimizing the vehicle‟s turning radius and counter phase steering of rear wheels enables U-
Turns to be performed on narrow roads.[9]

X. CONCLUSION
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 convectional
two wheel steering system, four wheel steering is a complex and expensive. Currently the cost of a vehicle with
four wheel steering is more than that of the convectional two wheel steering of vehicle. Four wheel steering is
growing in popularity and it is likely to come in more and more new vehicles. As the system become more
common place, the cost of four wheel Steering system will drop down.

ACKNOWLEDGEMENT
First and foremost, we would like to thank Prof. Dhoble P.G. for blessing us with enthusiasm, courage,
knowledge and energy to help us finish our paper work. We are thankful and would like to express our sincere
gratitude for our Principal Dr.B.M.Patil for his guidance, support and continuous encouragement in making this
project possible. His guidance from initial to final level enabled us to achieve our objective of paper work.
Our sincere thanks to all the Lecturers who helped us in many ways, gave valuable advises and made
our journey easy.

REFERENCES
[1]. H. Sakai, T. Matsuo, S. Murayama, H. Hoshino, and R. Nagashima, Utsunomiya University, Utsunomiya, Japan
[2]. Institute for Dynamic System and Controls, Steering Dynamics
[3]. K. Lohith1, Dr. S. R. Shankapal2, M. H. Monish Gowda3, Automotive and Aeronautical Engineering Department,
M. S. Ramaiah School of Advanced Studies, Bangalore – 58.
[4]. Mohm. Hanif Bin Md. Yusuf, Dept. of Mechanical Engineering, Universiti Teknikal Malaysia, Melaka
[5]. Johnson Erik (2007), “2008 Infiniti G37 Sport Coupe-Suspension, Handling and Four-Wheel Steering”.
[6]. Kirpal Singh (2011), AutomobileEngineering, 12th Edition, pp. 207-229, Standard Publication Distributors.
[7]. Shibahata Y, Irie N, Itoh H and Nakamura K (1986), “The Development of an Experimental Four-Wheel–Steering
Vehicle”, SAE 860623.
[8]. Thomas W Birch (1987), “Automotive Suspension and Steering System”.
[9]. M. Abe, "Vehicle Dynamics and Control for Improving Handling and Active Safety: From Four-Wheel-Steering to
Direct Yaw Moment Control," in Proc. Institution of Mechanical Engineers, Part K, Journal of Milti-body
Dynamics, vol. 213, no. 4, 1999.

| IJMER | ISSN: 2249–6645 | www.ijmer.com | Vol. 6 | Iss. 10 | October 2016 | 34 |