wheelangle

Wheelangle is a term used in automotive engineering and robotics to denote the orientation of a wheel's rotation plane relative to the vehicle's longitudinal axis. In common automotive practice, wheel angle for the front wheels corresponds to the steering angle—the angle through which the wheel is turned from straight ahead. When multiple steering axes are present, such as in four-wheel steering, each wheel may have its own wheel angle.

Measurement and conventions

Wheel angle is measured in degrees, with positive values typically indicating an inward turn (toward the vehicle’s centerline) and negative values indicating an outward turn. It is usually referenced with respect to the vehicle's forward direction and is sensed by steering angle sensors, rotary encoders on the steering rack, or steer-by-wire actuators. Typical front-wheel steering ranges are roughly ±15 to ±40 degrees, depending on vehicle size and design; full-lock angles are used primarily for low-speed maneuvers or testing.

Role in vehicle dynamics

Wheel angle directly influences the turning radius and the tire slip angles generated during cornering. The relationship between wheel angle, vehicle speed, and lateral force is central to steering feel, stability control, and tire wear. Proper steering geometry—often described by Ackermann principles—aims to align wheel angles so that all wheels point toward a common turning center, minimizing scrubbing forces. Wheel angle is also a key input to dynamic models, traction control systems, and stability programs.

Variants and applications

In four-wheel or independent-wheel steering systems, individual wheel angles enable enhanced maneuverability and stability at various speeds. In robotics and automated vehicles, wheel angle control is integrated with autonomous navigation, sensor fusion, and actuator systems. Calibration, wear, and suspension geometry can affect measured wheel angles and their influence on handling.