{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreigf3yh3h5dtw2bvbtmqo6c7wk4upzabc4gnqoqihvpewphyfwlr7m"
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    "mimeType": "image/png",
    "size": 91062
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  "description": "Steering a vehicle in an electronic steering mode of operation that includes a front axle steering system, a rear axle steering system, one or more vehicle environment sensors, and a controller operatively coupled with the front axle steering system, the rear axle steering system, and the vehicle…",
  "path": "/patents/1284732",
  "publishedAt": "2021-03-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18172",
    "Deere & Company"
  ],
  "textContent": "Steering a vehicle in an electronic steering mode of operation that includes a front axle steering system, a rear axle steering system, one or more vehicle environment sensors, and a controller operatively coupled with the front axle steering system, the rear axle steering system, and the vehicle environment sensors. Commanding the vehicle to operate at a desired vehicle speed, detecting a lateral force acting on the vehicle in response to input from the vehicle environment sensors, and determining an actual lateral acceleration of the vehicle and a predicted lateral acceleration of the vehicle from the desired vehicle speed. Determining a lateral acceleration error by comparing the predicted lateral acceleration to the actual lateral acceleration, and determining if the lateral acceleration error exceeds a lateral acceleration limit, then turning both of the front axle steering system and the rear axle steering system to a crab steering correction angle.",
  "title": "AUTOMATIC CRAB STEERING ON SIDE HILLS"
}