View source for Steering

{{Short description|Control of the direction of motion of vehicles and other objects}}
{{Use mdy dates|date=October 2023}}
{{Use American English|date=July 2024}}

[[File:Jersey Town Criterium 2011 81.jpg|thumb|upright|A cyclist steering a bicycle by turning the handlebar and leaning]]

'''Steering''' is the control of the [[direction (geometry)|direction]] of [[motion]]<ref name=":5">{{citation |url=https://www.neuro.ki.se/grillner/steering.html |title=Steering |publisher=The Nobel Institute for Neurophysiology |website=Karolinska Institutet |date= May 30, 2009}}</ref> or the components that enable its control.<ref>{{citation |section=steering |dictionary=Collins English Dictionary |edition=13 |year=2018}}</ref> Steering is achieved through various arrangements, among them [[aileron]]s for airplanes, [[rudders]] for boats, cylic tilting of [[Helicopter rotor|rotors]] for helicopters,<ref>{{citation |title=The Handy Answer Book for Kids (and Parents) |edition=second |first=Gina |last=Misiroglu |year=2010 |pages=152–155}}</ref> and many more.

== Aircraft ==
[[Aircraft flight control system]]s are normally steered when airborne by the use of [[aileron]]s, [[spoileron]], or both to bank the aircraft into a turn; although the rudder can also be used to turn the aircraft, it is usually used to minimize [[adverse yaw]], rather than as a means to directly cause the turn.  On the ground, aircraft are generally steered at low speeds by turning the nosewheel or tailwheel (using a tiller or the rudder pedals) or through differential braking, and by the rudder at high speeds. Missiles, airships and large [[hovercraft]] are usually steered by a rudder, [[thrust vectoring]], or both. Small sport hovercraft have similar rudders, but steer mostly by the pilot shifting their weight from side to side and unbalancing the more powerful lift forces beneath the skirt. Jet packs and flying platforms are steered by thrust vectoring only.{{citation needed|date=January 2011}}

[[Helicopter flight controls]] are steered by cyclic control, changing the thrust vector of the main rotor(s), and by anti-torque control, usually provided by a tail rotor.{{citation needed|date=January 2011}}

== Automotive ==
[[File:Suspension.jpg|thumb|right|200px|Part of a car steering mechanism: tie rod, steering arm, king pin axis (using [[ball joint]]s)]]
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{{More citations needed section|date=January 2011}}
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A conventional [[automotive]] steering arrangement allows a driver to control the direction of the vehicle by turning the direction of the front wheels using a hand–operated [[steering wheel]] positioned in front of the driver. The steering wheel is attached to a [[steering column]], which is linked to rods, pivots and gears that allow the driver to change the direction of the front wheels.  The mechanism may include a [[rack and pinion]] mechanism that converts several turns of the steering wheel into a large linear displacement.  Alternatively, it may use a [[recirculating ball]] system. The mechanism may be [[power steering|power-assisted]], usually by hydraulic or electrical means.

The use of a variable rack (still using a normal pinion) was invented by [[Arthur Ernest Bishop]]<ref>{{cite web|title=Rack and pinion variable ratio steering gear|publisher=Google Patent Search|url=http://www.google.com/patents?vid=USPAT3753378&id=bTEwAAAAEBAJ&dq=pinion+%2Bininventor:Arthur+ininventor:E+ininventor:Bishop&jtp=1|access-date=2007-03-22}}{{dead link|date=June 2024|bot=medic}}{{cbignore|bot=medic}}</ref> in the 1970s, so as to improve vehicle response and aim to allow for more comfortable steering, especially at high speeds. He also created a low cost [[Forging|press forging]] process to manufacture the racks, eliminating the need to machine the gear teeth.

Other arrangements are sometimes found on different types of vehicles; for example, a [[tiller]] or rear-wheel steering. [[Tracked vehicle]]s such as bulldozers and tanks usually employ [[differential steering]], where the tracks are made to move at different speeds or in opposite directions, using the [[clutch]] and brakes, to achieve a change of direction.{{citation needed|date=January 2011}}

Common steering system components include:

{{Div col|colwidth=20em}}
* [[Steering wheel]]
* [[Steering column]]
* [[Steering box]]
* [[Pitman arm]]
* [[Idler arm]]
* [[Tie rod end]]s
* [[Rack and pinion]]
* [[Power steering]] pump
* [[Power steering fluid]]
* [[Steering linkage]]
* [[Steering knuckle]]
* [[Ball joint]]s
* [[Steering damper]]s
{{Div col end}}

===Geometry===
[[File:Ackermann turning.svg|thumb|250px|right|Ackermann steering geometry]]
The basic aim of steering is to ensure that the wheels are pointing in the desired direction to move the vehicle as required. This is typically achieved by a series of linkages, rods, pivots, and gears. One of the fundamental concepts is that of [[caster angle]]. Each wheel is steered with a pivot point ahead of the wheel, which tends to make the steering self-centered in the direction of travel.

The steering linkages connecting the steering box and the wheels usually conform to a variation of [[Ackermann steering geometry]], to account for the fact that in a turn, the inner wheel travels in a path of smaller radius than the outer wheel, so that the degree of [[toe (automotive)|toe]] suitable for driving in a straight path is not suitable for turns. The angle the wheels make in the vertical plane, known as [[camber angle]], also influences steering dynamics as do the tires.
{{clear}}
{{Gallery
|width=120 | height=120
|align=center
|File:Caster angle.svg|[[Caster angle|Caster angle θ]] indicates [[Kingpin (automotive part)|kingpin]] pivot line and gray area indicates vehicle's tire with the wheel moving from right to left. A positive caster angle aids in [[directional stability]], as the wheel tends to trail, but a large angle makes steering more difficult.
|File:Curves, described by a simple moving vehicle.ogv|Curves described by the rear wheels of a conventional automobile. While the vehicle moves with a constant speed its inner and outer rear wheels do not.
}}

Steering wheel turning is often measured in terms of number of full 360-degree turns to go '''lock-to-lock'''<!-- bolded per [[WP:MOSBOLD]] as a redirect link -->. This is when the steering input mechanism is restrained at its mechanical limit from the full right-turn stop to the left-turn stop.

===Rack and pinion, recirculating ball, worm and sector===
[[Image:WrightspeedStearingRack4888.JPG|thumb|250px|right|Rack and pinion unit mounted in the cockpit of an [[Ariel Atom]] sports car chassis, atypical of contemporary production automobiles]]
[[Image:Scatola di sterzo.jpg|thumb|Non-assisted steering box of a motor vehicle]]

Many modern cars have a steering mechanism called a [[rack and pinion]]. The steering wheel turns a pinion gear, which moves a rack back and forth to steer the wheels. This mechanism converts the circular motion of the steering wheel to [[linear motion]], which is applied to the wheels of the car via [[tie rod]]s and a [[steering knuckle]].

Rack and pinion steering has several advantages, such as a direct steering "feel". This means that the driver can feel the road better and have more precise control over the car's movement.

[[BMW]] was one of the first manufacturers to adopt rack and pinion steering systems in the 1930s, with many other European manufacturers following suit. Auto manufacturers in the [[United States]] began to use rack and pinion steering with the 1974 [[Ford Pinto]].<ref>{{cite web |url=http://www.hemmings.com/hmn/stories/2010/07/01/hmn_feature20.html |title=Rack and Pinion Steering &#124; Hemmings Motor News |access-date=2015-07-24 |url-status=live |archive-url=https://web.archive.org/web/20150710194851/http://www.hemmings.com/hmn/stories/2010/07/01/hmn_feature20.html |archive-date=2015-07-10 }}</ref>

Older designs use two main principles: the worm and sector design and the screw and nut. Both types were enhanced by reducing the friction; for screw and nut it is the [[recirculating ball]] mechanism, which is still found on trucks and utility vehicles. The steering column turns a large screw, which meshes with the nut by recirculating balls. The nut moves a sector of a gear, causing it to rotate about its axis as the screw is turned; an arm attached to the axis of the sector moves the [[pitman arm]], which is connected to the steering linkage and thus steers the wheels. The recirculating ball version of this apparatus reduces the considerable friction by placing large ball bearings between the screw and the nut. At either end of the apparatus, the balls exit from between the two pieces into a channel internal to the box, which connects them with the other end of the apparatus. Thus, they are "recirculated".

The recirculating ball mechanism gives a driver a greater mechanical advantage, resulting in its use on larger, heavier vehicles, while the rack and pinion would originally be limited to smaller and lighter ones; due to the almost universal adoption of [[power steering]], however, this is no longer considered an important advantage, leading to the increasing use of rack and pinion mechanisms on newer cars. The recirculating ball design also has a perceptible lash, or "dead spot" on center, where a minute turn of the steering wheel in either direction does not move the steering apparatus; this is easily adjustable via a screw on the end of the steering box to account for wear, but it cannot be eliminated because it will produce excessive internal forces at other positions and the mechanism will wear very rapidly. This design is still in use in trucks and other large vehicles, where rapidity of steering and direct feel are less important than robustness, maintainability, and mechanical advantage.

The worm and sector was an older design, used for example in [[Willys MB|Willys]] and Chrysler vehicles, and the Ford Falcon (1960s). To reduce friction, the sector is replaced by a roller or rotating pins on the rocker shaft arm.

Generally, older vehicles use the recirculating ball mechanism, and only newer vehicles use rack-and-pinion steering. This division is not very strict, however, and rack-and-pinion steering systems can be found on British sports cars of the mid-1950s, and some German carmakers did not give up recirculating ball technology until the early 1990s.

Other systems for steering exist, but are uncommon on road vehicles. Children's toys and [[go-kart]]s often use a very direct [[Linkage (mechanical)|linkage]] in the form of a [[bellcrank]] (also commonly known as a pitman arm) attached directly between the steering column and the steering arms, and the use of cable-operated steering linkages (e.g. the capstan and bowstring mechanism) is also found on some home-built vehicles such as [[soapbox car]]s and [[recumbent tricycle]]s.

===Power steering===
{{Main|Power steering}}

Power steering helps the driver of a vehicle to steer by directing some of its engine power to assist in swiveling the steered road wheels about their steering axes.  As vehicles have become heavier and switched to [[front-wheel drive]], particularly using negative offset geometry, along with increases in tire width and diameter, the effort needed to turn the wheels about their steering axis has increased, often to the point where major physical exertion would be needed were it not for power assistance.  To alleviate this, auto makers have developed power steering systems, or more correctly power-assisted steering, since on road-going vehicles there has to be a mechanical linkage as a [[fail-safe]]. There are two types of power steering systems: [[Hydraulic power steering|hydraulic]] and electric/electronic. A hydraulic-electric hybrid system is also possible.

A Hydraulic Power Steering (HPS) uses hydraulic pressure supplied by an engine-driven pump to assist the motion of turning the steering wheel. Electric Power Steering (EPS) is more efficient than hydraulic power-steering, since the electric power-steering motor only needs to provide assistance when the steering wheel is turned, whereas the hydraulic pump must run constantly. In EPS, the amount of assistance is easily tunable to the vehicle type, road speed, and driver preference.  An added benefit is the elimination of the environmental hazard posed by leakage and disposal of hydraulic power-steering fluid.  In addition, electrical assistance is not lost when the engine fails or stalls, whereas hydraulic assistance stops working if the engine stops, making the steering doubly heavy as the driver must now turn not only the very heavy steering—without any help—but also the power-assistance system itself.

===Speed-sensitive steering===
Speed-sensitive steering allows for highly assisted steering at low speeds for maneuverability, and lightly assisted steering at high speed for stability. The first vehicle with this feature was the [[Citroën SM]] with its [[DIRAVI]] system, first sold in France in 1970.<ref>{{cite web |url=http://www.cnet.com/videos/top-5-citroen-sm-innovations-that-saw-the-future/ |title=Top 5: Citroen SM innovations that saw the future - Video |access-date=2015-05-28 |url-status=live |archive-url=https://web.archive.org/web/20150511220429/http://www.cnet.com/videos/top-5-citroen-sm-innovations-that-saw-the-future/ |archive-date=2015-05-11 }}</ref> The hydraulic steering system applied force on a centering cam which pushed the steering rack and wheel back to the straight-ahead position. The centering force increased with speed, requiring more effort to turn the wheel at greater speeds.<ref>{{citation |url=https://www.conceptcarz.com/vehicle/z1455/citroen-sm.aspx |title=1973 Citroen SM |website=conceptcarz.com |date=June 29, 2000}}</ref>

Modern speed-sensitive power steering systems reduce the mechanical or electrical assistance as the vehicle speed increases, giving a more direct feel. This feature is gradually becoming more common.  For example, it was used on a production pickup truck, the Tesla Cybertruck, in 2023.<ref name=inEVs20231130>{{cite news |url=https://insideevs.com/news/698794/tesla-cybertruck-steer-wire/ |title=Huzzah, The Tesla Cybertruck Has Steer-By-Wire |first=Kevin |last=Williams |date=30 November 2023 |work=InsideEVs |access-date=17 December 2023 }}</ref><ref name=MunroLive20231211>{{cite AV media |url=https://www.youtube.com/watch?v=J5zDNaY1fvI |title=Cybertruck DEEP DIVE with 5 Tesla Executives! |people=Sandy Munro, Lars Moravy, Franz von Holzhausen, Drew Baglino, Pete Bannon, David Lau |time=48:29–51:50 |location=Austin, Texas |date=11 December 2023 |publisher=[[Munro Live]] |access-date=17 December 2023 |via=[[YouTube]] }}</ref>{{rp|51:28}}

===Four-wheel steering===
[[File:4WSselect.svg|thumb|right|200px|Speed-dependent four-wheel steering.]]
{{anchor|Four-wheel steering|4WS}}
Four-wheel steering is a system employed by some vehicles to improve steering response, increase vehicle stability while maneuvering at high speed, or to decrease [[turning radius]] at low speed.

====Active four-wheel steering====
In an active four-wheel steering system, all four wheels turn at the same time when the driver steers. In most active four-wheel steering systems, the rear wheels are steered by a computer and actuators.<ref name=":0">{{cite web|url=http://www.zf.com/corporate/en_de/products/product_range/cars/cars_akc__active_kinematics_control.shtml|title=Cars {{!}} AKC® - Active Kinematics Control - ZF Friedrichshafen AG|website=www.zf.com|language=en|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170407054123/http://www.zf.com/corporate/en_de/products/product_range/cars/cars_akc__active_kinematics_control.shtml|archive-date=2017-04-07}}</ref> The rear wheels generally cannot turn as far as the front wheels. There can be controls to switch off the rear steering and options to steer only the rear wheels independently of the front wheels. At low speed (e.g. parking) the rear wheels turn opposite to the front wheels, reducing the turning radius, sometimes critical for large trucks, tractors, vehicles with trailers and passenger cars with a large wheelbase, while at higher speeds both front and rear wheels turn alike (electronically controlled), so that the vehicle may change lanes with less [[yaw angle|yaw]] and improved build-up of the lateral acceleration, enhancing straight-line stability.<ref name=":0" /><ref name=":1">{{cite web|url=http://www.bmw.com/com/en/newvehicles/5series/sedan/2016/showroom/driving_dynamic_efficiency.html|title=BMW 5 Series Sedan: Driving dynamics & Efficiency|last=AG|first=BMW|website=www.bmw.com|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406201629/http://www.bmw.com/com/en/newvehicles/5series/sedan/2016/showroom/driving_dynamic_efficiency.html|archive-date=2017-04-06}}</ref>

Four-wheel steering is used in most [[monster truck]]s, where maneuverability in small arenas is critical, and it is also popular in large farm vehicles and trucks. Some of the modern European Intercity buses also utilize four-wheel steering to assist maneuverability in bus terminals, and also to improve road stability. Mazda were pioneers in applying four-wheel steering to automobiles, showing it on their 1984 Mazda MX-02 concept car, where the rear wheels counter-steered at low speeds.<ref name=TM585>{{cite magazine | magazine = Tekniikan Maailma | ref = TM | date = 1985-03-19 | number = 5/85 | volume = 41 | issn = 0355-4287 | title = Nelosten vuosi | trans-title = Year of the Four | last = Lindell | first = Hannu | publisher = TM-Julkaisu | location = Helsinki | language = fi | page = Automaailma 3 }}</ref> Mazda proceeded to offer a version of this electronic four-wheel steering system on the [[Mazda 626]] and [[Mazda MX-6|MX6]] in 1988. The first rally vehicle to use the technology was the [[Peugeot 405 Turbo 16]], which debuted at the 1988 Pikes Peak International Hill Climb.<ref>{{cite web|title=1988 Peugeot 405 T16 GR Pikes Peak|url=http://www.supercars.net/cars/5381.html|access-date=2015-03-16}}</ref>

Previously, [[Honda]] had mechanical four-wheel steering as an option in their 1987–2001 [[Honda Prelude|Prelude]] and [[Honda Ascot#First generation (CB1/2/3/4)|Honda Ascot]] models (1989–1996) later upgrading to electronically controlled. General Motors offered Delphi's [[Quadrasteer]] in their Silverado/Sierra and Suburban/Yukon. Due to initially high cost as an option and lack of familiarity producing low demand, GM discontinued the technology at the end of the 2005 model year.<ref>{{cite web
 |url         = http://wardsautoworld.com/ar/auto_quadrasteer_off_course/
 |title       = Quadrasteer Off Course
 |first1      = Tom
 |last1       = Murphy
 |first2      = Brian
 |last2       = Corbett
 |date=2005-03-01
 |publisher   = Wards Auto World
 |access-date=2010-06-11
 |url-status     = live
 |archive-url  = https://web.archive.org/web/20110323015108/http://wardsautoworld.com/ar/auto_quadrasteer_off_course/
 |archive-date=2011-03-23
}}</ref> Nissan/Infiniti offer several versions of their [[HICAS]] system as standard or as an option in much of their line-up.

In the early 2000s, a new generation of four-wheel steering systems was introduced into the market. In 2001 BMW equipped the [[BMW 7 Series (E65)|E65 7 series]] with an all-wheel steering system (optional, called 'Integral Active Steering'), which is available on the current 5, 6, and 7 series,<ref>{{cite web|url=http://www.bmw.com/com/en/newvehicles/7series/sedan/2015/showroom/m_performance.html|title=BMW 7 Series Sedan : M Performance|last=AG|first=BMW|website=www.bmw.com|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406201300/http://www.bmw.com/com/en/newvehicles/7series/sedan/2015/showroom/m_performance.html|archive-date=2017-04-06}}</ref><ref>{{cite web|url=http://www.bmw.com/com/en/newvehicles/6series/coupe/2014/showroom/driving_dynamics_and_efficiency/driving_dynamics.html#c=3&t=s|title=BMW 6 Series Coupé : Driving dynamics|last=AG|first=BMW|website=www.bmw.com|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406214428/http://www.bmw.com/com/en/newvehicles/6series/coupe/2014/showroom/driving_dynamics_and_efficiency/driving_dynamics.html#c=3&t=s|archive-date=2017-04-06}}</ref><ref name=":1" /> as an option. Renault introduced an optional all-wheel steering called '4control'<ref name=":2">{{cite web|url=https://www.renault.co.uk/vehicles/new-vehicles/all-new-megane-sport-tourer/equipment.html|title=Feature {{!}} All-New MEGANE Sport Tourer {{!}} Cars {{!}} Renault UK|website=Renault|language=en-GB|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406211740/https://www.renault.co.uk/vehicles/new-vehicles/all-new-megane-sport-tourer/equipment.html|archive-date=2017-04-06}}</ref><ref name=":3">{{cite web|url=https://www.renault.fr/vehicules/vehicules-particuliers/talisman/equipements.html|title=Equipements {{!}} Talisman {{!}} Véhicules Particuliers {{!}} Véhicules {{!}} Renault FR|website=Renault|language=fr-FR|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170407053817/https://www.renault.fr/vehicules/vehicules-particuliers/talisman/equipements.html|archive-date=2017-04-07}}</ref><ref name=":4">{{cite web|url=https://www.renault.fr/vehicules/vehicules-particuliers/espace/equipements.html|title=Equipements {{!}} Espace {{!}} Véhicules Particuliers {{!}} Véhicules {{!}} Renault FR|website=Renault|language=fr-FR|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170407054000/https://www.renault.fr/vehicules/vehicules-particuliers/espace/equipements.html|archive-date=2017-04-07}}</ref> in 2009, at first on the [[Renault Laguna|Laguna GT]], which is currently available on the [[Renault Talisman|Talisman]],<ref name=":3" /> [[Renault Mégane|Mégane]]<ref name=":2" /> and [[Renault Espace|Espace]]<ref name=":4" /> vehicle lines. In 2013, Porsche introduced a system on the [[Porsche 991|911 Turbo]] as standard equipment.<ref>{{cite web|url=http://www.porsche.com/uk/models/911/911-turbo/chassis/rear-axles-steering/|title=Porsche 911 Turbo - Rear-axle steering - Porsche Great Britain|website=Porsche Great Britain - Dr. Ing. h.c. F. Porsche AG|language=en-GB|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170407054340/http://www.porsche.com/uk/models/911/911-turbo/chassis/rear-axles-steering/|archive-date=2017-04-07}}</ref> Since 2016, the [[Porsche Panamera|Panamera]] has been offered with optional all-wheel steering.<ref>{{cite web|url=http://www.porsche.com/uk/models/panamera/panamera/drive-chassis/rear-axle-steering/|title=Porsche The new Panamera - Rear-axle steering - Porsche Great Britain|website=Porsche Great Britain - Dr. Ing. h.c. F. Porsche AG|language=en-GB|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406201728/http://www.porsche.com/uk/models/panamera/panamera/drive-chassis/rear-axle-steering/|archive-date=2017-04-06}}</ref> The 2014 [[Audi Q7]] was launched with an optional system.<ref>{{cite web|url=http://www.uk.audi.com/uk/web/en/models/q7/q7.html?pid=int:audiuk:modelpages#page=/uk/web/en/models/q7/q7/equipment.html&layer=/uk/web/en/models/q7/q7/equipment.mediathek_infolayer.MHIA0N5.html|title=Audi Q7 > Audi configurator UK|website=www.uk.audi.com|language=en-CA|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406202934/http://www.uk.audi.com/uk/web/en/models/q7/q7.html?pid=int:audiuk:modelpages#page=/uk/web/en/models/q7/q7/equipment.html&layer=/uk/web/en/models/q7/q7/equipment.mediathek_infolayer.MHIA0N5.html|archive-date=2017-04-06}}</ref> Also the Japanese OEMs offer luxury segment vehicles equipped with all-wheel steering, such as Infiniti on its QX70 model ('Rear Active Steering')<ref>{{cite web|url=https://www.infiniti.co.uk/cars/new-cars/qx70/performance.html|title=INFINITI QX70 Specs - Performance Features & Engine Options|website=Infiniti|language=en-GB|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170406201307/https://www.infiniti.co.uk/cars/new-cars/qx70/performance.html|archive-date=2017-04-06}}</ref> and Lexus on the GS.<ref>{{cite web|url=https://www.lexus.de/lexus-today/news-events/lexus-gs-2016.html#|title=News&Events, Neuigkeiten|website=www.lexus.de|language=de-DE|access-date=2017-04-06|url-status=dead|archive-url=https://web.archive.org/web/20170222054646/https://www.lexus.de/lexus-today/news-events/lexus-gs-2016.html|archive-date=2017-02-22}}</ref> Italian manufacturers have launched the technology in the model years 2016–17 with the [[Ferrari F12tdf]],<ref>{{cite web|url=http://auto.ferrari.com/en_EN/sports-cars-models/car-range/f12tdf/#innovations-dynamics-4|title=Ferrari F12tdf: Track-Level Performance on the Road - Ferrari.com|website=Ferrari GT - en-EN|language=en-US|access-date=2017-04-06|url-status=dead|archive-url=https://web.archive.org/web/20170407053832/http://auto.ferrari.com/en_EN/sports-cars-models/car-range/f12tdf/#innovations-dynamics-4|archive-date=2017-04-07}}</ref> the [[Ferrari GTC4Lusso]]<ref>{{cite web|url=http://gtc4lussot.ferrari.com/en/comfort/dynamic|title=GTC4LUSSO T: maximum control for a unique driving experience|website=GTC4Lusso T|language=en-GB|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170407053738/http://gtc4lussot.ferrari.com/en/comfort/dynamic|archive-date=2017-04-07}}</ref> as well as the [[Lamborghini Aventador|Lamborghini Aventador S]].<ref>{{cite web|url=https://www.lamborghini.com/en-en/models/aventador/aventador-s-coupe|title=Lamborghini Aventador S Coupé|website=www.lamborghini.com|language=en|access-date=2017-04-06|url-status=live|archive-url=https://web.archive.org/web/20170425024942/http://www.lamborghini.com/en-en/models/aventador/aventador-s-coupe|archive-date=2017-04-25}}</ref>

{{Gallery
|width=180 | height=170
|align=center
|File:Caldwell vale tractor.jpg|Early example of four-wheel steering. 1910 photograph of 80 hp [[Caldwell Vale]] tractor in action.
|File:Mercedes Kübelwagen G5.jpg|1937 Mercedes-Benz Type G 5 with four-wheel steering.
|File:Quadrasteer61.jpg|Sierra Denali with [[Quadrasteer]], rear steering angle.
|File:Arnhem-Trolleybus-4-wheel-steering.jpg|[[Articulated vehicle|Articulated]] Arnhem [[trolleybus]] demonstrating its four-wheel steering on front and rear axles (2006).
|File:Honda Prelude Mk III rear steering box.jpg|Honda Prelude Mk III rear steering box
}}

=====Crab steering=====
Crab steering is a special type of active four-wheel 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 at an angle: when changing lanes on a highway at speed, when moving loads with a reach truck, or during filming with a camera dolly.

Rear wheel steering can also be used when the rear wheels may not follow the path taken by the front wheel tracks (e.g. to reduce soil compaction when using rolling farm equipment).

{{Gallery
|width=180 | height=170
|align=center
|File:Bauma 2007 Telescopic Handler Liebherr 2.jpg|2007 Liebherr-Bauma [[telescopic handler]] using crab steering.
|File:HAMM DV70 Tandemwalze im Hundegang.jpg|Hamm DV70 tandem roller using crab steering to cover maximum road surface (2010).
|File:Slurry applicator - geograph.org.uk - 1252279.jpg|Agricultural slurry applicator using crab steering to minimise soil compaction (2009).
}}

===={{anchor|passive}} Passive rear-wheel steering====
Many modern{{Clarify timeframe|date=July 2021}} vehicles have passive rear-wheel steering. 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 [[Bushing (isolator)|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]]; it, or its opposite, is present on all suspensions. Typical methods of achieving compliance understeer are to use a [[Watt's linkage|Watt's link]] on a live rear axle, or the use of toe control bushings on a [[Twist-beam rear suspension|twist beam suspension]]. On an [[independent rear suspension]] it is normally achieved by changing the rates of the rubber bushings in the suspension. Some suspensions typically have compliance [[oversteer]] due to geometry, such as [[Hotchkiss drive|Hotchkiss live axles]], semi-trailing arm IRS, and rear twist beams, but may be mitigated by revisions to the pivot points of the leaf spring or trailing arm, or additional suspension links, or complex internal geometry of the bushings.

Passive rear-wheel steering is not a new concept, as it has been in use for many years,{{Clarify timeframe|date=July 2021}} although not always recognized as such.

===Articulated steering{{anchor|Articulated steering}}===
[[File:Bv206keskinivel.webm|thumb|Articulated steering on a [[bandvagn 206]].]]
[[File:ChelProm Front-end single-bucket loaders PK-27.jpg|thumb|Front loader with articulated steering (2007).]]
[[Articulated vehicle|Articulated steering]] is a system by which a vehicle is split into front and rear halves which are connected by a vertical hinge. The front and rear halves are connected with one or more [[hydraulic cylinder]]s that change the angle between the halves, including the front and rear axles and wheels, thus steering the vehicle. This system does not use steering arms, king pins, tie rods, etc. as does four-wheel steering. If the vertical hinge is placed equidistant between the two axles, it also eliminates the need for a central [[Differential (mechanics)|differential]] in four-wheel drive vehicles, as both front and rear axles will follow the same path, and thus rotate at the same speed. [[Articulated hauler]]s have very good off-road performance.

Vehicle-trailer-combinations such as semi-trailers, [[road train]]s, [[articulated bus]]es, and internal transport trolley trains can be regarded as passively-articulated vehicles.
{{anchor|Rear wheel steering}}<!--Anchor is for previous name of below section-->

===Rear-wheel steering===
A few types of vehicle use only rear-wheel steering, notably [[fork lift truck]]s, [[Camera dolly|camera dollies]], early [[Loader (equipment)|pay loaders]], [[Buckminster Fuller]]'s [[Dymaxion car]], and the [[ThrustSSC]].<ref>{{cite web
 |url         = http://www.thrustssc.com/thrustssc/Engineering/rearster.html
 |title       = Thrust SSC - Engineering
 |access-date=2010-05-26
 |url-status     = live
 |archive-url  = https://web.archive.org/web/20101112005431/http://www.thrustssc.com/thrustssc/Engineering/rearster.html
 |archive-date=2010-11-12
}}</ref>

Rear wheel steering is particularly useful for tight maneuvring. 
However naive implementations of rear-wheel steering tend to oversteer which may lead to steering instability. Therefore rear-wheel steering usually only found in slower vehicles that need high-maneuverability in tight spaces, e.g. fork lifts.

For heavy haulage or for increased maneuverability, some semi-trailers are fitted with rear-wheel steering, controlled electro-hydraulically. The wheels on all or some of the rear axles may be turned through different angles to enable tighter cornering, or through the same angle (crab steering) to move the rear of the trailer laterally.

===Steer-by-wire===
[[File:Lunar vehicle.jpg|thumb|right|200px|1971 Lunar Roving Vehicle (LRV) with joystick steering controls.]]
[[File:Honda EV-STER twin-lever steering 2012 Tokyo Auto Salon.jpg|thumb|right|200px|2012 Honda EV-STER "Twin Lever Steering" concept.]]
[[File:Turbine Blade Delivery to Tower No 11 - geograph.org.uk - 787699.jpg|thumb|right|200px|Heavy transport trailer with all-wheel steering remote controlled by a steersman walking at the rear of the trailer (2008).]]
The aim of [[steer-by-wire]] technology is to completely remove as many mechanical components (steering shaft, column, gear reduction mechanism, etc.) as possible. Completely replacing conventional steering system with steer-by-wire has several advantages, such as:
* The absence of steering column simplifies the car interior design.
* The absence of steering shaft, column and gear reduction mechanism allows much better space utilization in the engine compartment.
* The steering mechanism can be designed and installed as a modular unit.
* Without mechanical connection between the steering wheel and the road wheel, it is less likely that the impact of a frontal crash will cause the steering wheel to impact the driver.
* Steering system characteristics can easily be adjusted to change the steering response and feel.

Steer-by-wire without the use of a steering column was first offered in a production car with the [[Infiniti Q50|Nissan Infiniti Q50]] in 2013.<ref name="Q50Wired">{{cite magazine|url=https://www.wired.com/2013/05/al-drivebywire/|title=Take a Look Inside the First Steer-by-Wire Car|first=Matt|last=Jancer|magazine=Wired |access-date=2017-03-06|archive-date=2014-03-16|archive-url=https://web.archive.org/web/20140316025422/http://www.wired.com/autopia/2013/05/al_drivebywire|url-status=live}}</ref> Steer-by-wire continued to be offered with the QX50 and QX55, and as of 2022 is being offered with the [[Infiniti Q60]] coupe.<ref name="CapitalOne">{{citation |url=https://www.capitalone.com/cars/learn/finding-the-right-car/what-is-steerbywire/1522 |title=What is Steer-by-Wire? |first=Jordan |last=Golson |date=May 21, 2022 |website=CapitalOne}}</ref>

Production [[battery electric vehicle]]s in the 2020s that offer steer-by-wire with no steering column include the [[Canoo Lifestyle Vehicle]],<ref>{{citation |url=https://www.motorbiscuit.com/looks-drive-most-exciting-ev-canoo-lifestyle-vehicle/ |title=This is What It Looks Like to Drive the Most Exciting EV, the Canoo Lifestyle Vehicle |first=Peter |last=Corn |date=March 19, 2023 |website=MotorBiscuit}}</ref> [[Lexus RZ|Lexus RZ 450e]],<ref>{{citation |url=https://www.motortrend.com/reviews/2023-lexus-rz450e-steer-by-wire-yoke-review/ |title=2023 Lexus RZ Steer-by-Wire Steering Yoke Review: This Yoke Is No Joke |first=Aaron |last=Gold |date=May 2, 2022 |website=MotorTrend}}</ref> REE Automotive [[REE Automotive#Corner modules|P7-module]]-based vehicles,<ref>{{citation| url=https://electrek.co/2023/05/02/ree-automotive-adds-new-p7-c-chassis-cab-to-its-all-electric-platform-lineup/ |title=REE Automotive adds new P7-C chassis cab to its all-electric platform lineup |author=Scooter Doll |date=May 2, 2023 |website=electrek}}</ref> [[Toyota bZ4X]],<ref name="CapitalOne" /> and [[Tesla Cybertruck]].<ref>{{ citation | url=https://insideevs.com/news/698794/tesla-cybertruck-steer-wire/|title=Huzzah, The Tesla Cybertruck Has Steer-By-Wire|first=Kevin |last=Williams|date=November 30, 2023| website=InsideEVs}}</ref> As of 2023 [[Lotus Cars|Lotus]],<ref name="Kacher2024Lotus">{{citation |url=https://www.whichcar.com.au/reviews/2024-lotus-eletre-review-iirst-international-drive |title=2024 Lotus Eletre review: First international drive |date=July 10, 2023 |first=Georg |last=Kacher |website=Which Car?}}</ref> [[Peugeot]],<ref>{{citation |url=https://www.carscoops.com/2023/01/hypersquare-steering-on-road-cars-by-2026-peugeot-ceo-says/ |title=Hypersquare Steering On Road Cars By 2026, Peugeot CEO Says |first=Chris |last=Chilton |date=January 6, 2023 |website=Carscoops}}</ref> and [[Mercedes-Benz]] plan to offer steer-by-wire cars in the mid to late 2020s.<ref>{{citation |url=https://www.motor1.com/news/674975/new-mercedes-s-class-yoke-steering-physical-buttons/ |title=New Mercedes S-Class Could Have Yoke Steering Wheel, More Physical Buttons |website=Motor1.com |first=Anthony |last=Alaniz |date=July 3, 2023}}</ref>

===Safety===
{{Main|Automotive safety}}
Traditionally, cars feature a collapsible steering column (energy absorbing steering column) which will collapse in the event of a heavy frontal impact to avoid excessive injuries to the driver. [[Airbag]]s are also generally fitted as standard. Non-collapsible steering columns fitted to older vehicles very often impaled drivers in frontal crashes, particularly when the steering box or rack was mounted in front of the front axle line, at the front of the [[crumple zone]]. This was particularly a problem on vehicles that had a rigid separate chassis frame with no crumple zone. Many modern vehicle steering boxes or racks are mounted behind the front axle on the front bulkhead, at the rear of the front crumple zone.

Collapsible steering columns were invented by [[Béla Barényi]] and were introduced in the 1959 [[Mercedes-Benz W111]] Fintail, along with crumple zones. This safety feature first appeared{{when|date=February 2012}} on cars built by General Motors after an extensive and very public lobbying campaign enacted by [[Ralph Nader]]. Ford started to install collapsible steering columns in 1968.<ref>{{cite web|last=Smart|first=Jim|title=Collapsible Steering Column Installation|url=http://www.mustangandfords.com/howto/30247_collapsible_steering_column/|url-status=dead|archive-url=https://web.archive.org/web/20061228160733/http://www.mustangandfords.com/howto/30247_collapsible_steering_column/|archive-date=2006-12-28}}</ref>

Audi used a retractable steering wheel and seat belt tensioning system called [[procon-ten]], but it has since been discontinued in favor of airbags and pyrotechnic seat belt pre-tensioners.

===Cycles===
{{Main|Countersteering|Bicycle and motorcycle dynamics}}
In [[bicycles]] and [[motorcycles]], leaning in the direction of the turn is required to counter the inertia of the vehicle, which would otherwise cause it to [[skid (automobile)|skid]] in a straight line.  To make a two-wheeled vehicle lean into a turn, riders often steer briefly in the opposite direction to angle the wheels away from the turn, a process known as [[countersteering]].<ref>{{cite web
| url = http://www.phys.lsu.edu/faculty/gonzalez/Teaching/Phys7221/vol59no9p51_56.pdf
| first = David
| last = Jones
| title = The Stability of the Bicycle
| year = 1970
| access-date = 31 March 2009}}</ref>  At low speeds, the countersteering required to make a turn is almost unnoticably small, but at a typical motorcycle's speed, large and deliberate countersteering is required to complete a turn quickly.  The amount of countersteering required also depends on the vehicle's weight, as [[bicycles]] can often complete turns using only weight shifting.<ref>{{cite book
| title = Motorcycle Handling and Chassis Design, the Art and Science
| edition = 2nd
| last = Foale
| first = Tony
| publisher = Tony Foale Designs
| year = 2006
| pages = 4–7
| isbn = 978-84-933286-3-4}}</ref>  Similar techinques are also used to steer [[tilting three-wheeler|tilting three-wheeled vehicles]], but rigid, non-tilting three-wheelers are steered similarly to cars,<ref>{{Cite book
|title = Sidecar Operator Manual
|year = 2003
|page = 98
|first = H. A. |last= Kendall
|url = http://www.bokblad.se/sidecar/SidecarManual.pdf}}</ref> and can require [[differential gear|differentials]] so that the wheel facing away from the turn can complete a longer distance than the wheel facing into the turn.

===Differential steering===
{{main|Differential steering}}
Differential steering is the primary means of steering [[tracked vehicle]]s, such as tanks and bulldozers;<ref>''Encyclopedia of German Tanks of World War Two'' by Peter Chamberlain and Hilary Doyle, 1978, 1999</ref>{{page needed|date=August 2023}} it is also used in certain wheeled vehicles commonly known as [[skid-steer]]s, and implemented in some automobiles, where it is called [[torque vectoring]], to augment steering by changing wheel direction relative to the vehicle.

===Regulations===

* In the European Union, Russia and Japan, United Nations Economic Commission for Europe (UNECE) vehicle regulation 79 is related to steering.
* In the United States, [[Federal Motor Vehicle Safety Standards]] 203 and 204 are related to impact protection for the driver from the steering control system and steering control rearward displacement while 49 [[Code of Federal Regulations]] § 393.209 is related to steering wheel systems.
* In North America, "hands-off" or "hands-free" level-2 systems allowing the drivers to remove both hands from the steering wheel were introduced and legally permitted. General Motors' Super Cruise is such an implementation. In those designs warnings are raised when driver disengages his/her visual attention.<ref name="hands-off-hands-on">{{cite tech report |first1=Oliver |last1=Carsten |first2=Mickaël |last2=Perrier |first3=Samantha |last3=Jamson |date = May 2023 |title=Driver Attentiveness to the Driving Task During ADAS Use |doi=10.13140/RG.2.2.31985.04961 |url=https://www.researchgate.net/publication/372279571_Driver_Attentiveness_to_the_Driving_Task_During_ADAS_Use |publisher=University of Leeds |location=UK}}</ref>
* In May 2023, in Europe, UNECE regulation 79 still requires assistant systems for steering to prompt drivers not to remove their hands from the steering wheel. Those systems are known as "hands-on" systems. With "hands-on" assisted driving systems, British and European drivers are required by the system itself to keep one or both hands on the steering wheel, as with unassisted driving: When driving with assisted steering, if drivers remove both hands from the steering wheel, an optical warning occurs after the first 15 seconds and an acoustic warning occurs after 15 more seconds. Assisted steering is deactivated after additional 30 seconds.<ref name="hands-off-hands-on" />
* In the United Kingdom, drivers must control the vehicle at all times, and Rule 160 of the Highway Code instructs to "drive with both hands on the wheel where possible." and to "use (ADAS) according to the manufacturer's instructions."<ref name="hands-off-hands-on" />

== Bicycles ==
The bicycle is steered by turning the handlebar and by the lean of the rider and the bicycle:<ref>{{cite journal |url=https://royalsocietypublishing.org/doi/full/10.1098/rspa.2007.1857#d1e2596 |title=Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review |doi=10.1098/rspa.2007.1857 |date=June 11, 2007 |first1=J.P |last1=Meijaard |first2=Jim M. |last2=Papadopoulos |first3=Andy |last3=Ruina |first4=A.L. |last4=Schwab |journal=Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences |volume=463 |issue=2084 |pages=1955–1982 |bibcode=2007RSPSA.463.1955M |s2cid=18309860 |display-authors=etal|url-access=subscription }}</ref>

* Turning the handlebar rotates the front wheel with respect to the plane of the circumference of the rear wheel. Friction of the front wheel with the ground provides the lateral forces that steer the bicycle. Modern bicycles have the front-wheel ground-contact-point trailing behind the steering axis, which is the long axis of the [[bicycle fork]] through the center of the front wheel. This trailing contact point adds to the effects of inertia and center-of-mass offset which affect the [[Bicycle and motorcycle dynamics#Balance|steering and self-stability of the bicycle.]]
* [[Bicycle#Dynamics|Leaning the frame of the bicycle]], which displaces the rider and parts of the bicycle in relation to the axis along the ground contact points of the wheels. Gravitational forces then provide the lateral forces that steer the bicycle.

== Watercraft ==
Ships and boats are usually steered with a [[rudder]]. Depending on the size of the vessel, rudders can be manually actuated, or operated using a [[servomechanism]], or a [[trim tab]] or [[servo tab]] system. [[Rowing]] may be used to steer rowboats by using [[Canoe paddle strokes|specific paddle strokes]]. Boats using [[outboard motor]]s steer by rotating the entire drive unit. Boats with inboard motors sometimes steer by rotating the [[propeller]] pod only (i.e., Volvo Penta IPS drive). Steering wheels may be used to control the rudder or propeller. Modern ships with diesel-electric drive use [[azimuth thruster]]s. Boats powered by [[oar]]s or [[paddle]]s are steered by generating a higher propulsion force on the side of the boat opposite of the direction of turn. [[Jet ski]]s are steered by weight-shift induced roll and water jet [[thrust vectoring]].{{citation needed|date=January 2011}}

The rudder of a vessel can steer the ship only when water is passing over it. Hence, when a ship is not moving relative to the water it is in or cannot move its rudder, it does not respond to the helm and is said to have ''lost steerage''. The motion of a ship through the water is known as ''making way''. Boats on rivers must always be under propulsion, even when traveling downstream, in order to steer, requiring sufficient water to pass over the surface of the rudder to effect changes in the direction of the boat in response to the helm. This is called having "steerage way".<ref name = "smyth1">
{{Cite book
  | last1 = Smyth
  | first1 = William Henry
  | author1-link = William Henry Smyth
  | last2 = Belcher
  | first2 = Edward
  | author2-link = Edward Belcher
  | title = The sailor's word-book: An alphabetical digest of nautical terms, including some more especially military and scientific ... as well as archaisms of early voyagers, etc.  
  | publisher = Blackie and Son
  | year = 1867
  | location = London
  | pages = 654
  | url = https://books.google.com/books?id=y7HqO9XAwk8C&q=sailor%20beached%20-beaches
  }}
</ref>

==See also==
{{Div col}}
* [[Active Yaw Control|Active Yaw Control (AYC)]]
* [[Bump Steer]]
* [[Camber angle]]
* [[Camber thrust]]
* [[Caster angle]]
* [[Countersteering]]
* [[DIRAVI]]
* [[Dry steering]]
* [[HICAS]]
* [[Kingpin (automotive part)|Kingpin]]
* [[Opposite lock]]
* [[Power steering]]
* [[Ship's wheel]]
* [[Skid steer]]
* [[Steer-by-wire]]
* [[Steering damper]]
* [[Steering kickback]]
* [[Steering ratio]]
* [[Steering wheel]]
* [[Steering wheel (ship)]]
* [[Tiller]]
* [[Torque steering]]
* [[Turning radius]]
* [[Vehicle dynamics]]
{{Div col end}}

==References==
{{Reflist}}

==External links==
{{Wiktionary}}
* [http://auto.howstuffworks.com/steering.htm How Car Steering Works] at [[HowStuffWorks]]
* [http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JMDEDB000122000002000194000001&idtype=cvips&gifs=yes&ref=no 2000 technical paper on the kinematic design of rack-and-pinion steering linkages]
* [http://scitation.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JMDEDB000124000004000646000001&idtype=cvips&gifs=yes&ref=no 2002 technical paper on the kinematic design of bellcrank steering linkages]

{{Automotive handling}}
{{Powertrain}}
{{Authority control}}

[[Category:Automotive steering technologies]]
[[Category:Articles containing video clips]]
[[Category:Vehicle dynamics]]