B62D 7/159

Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels {characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition}