Hi
I don't know how LGV 4WS compares to the Prelude but I understand that the Honda system actually had 2 phases of steering.
Slight input such as used when changing lanes to overtake resulted in front and rear wheels twisting in the same direction which kept the vehicle pointing straight down the road, whereas greater steering input changed the rear wheel lock to the opposite of the front wheels.
I recently saw a video of a heavy lift artic climbing Berridale, carrying a long girder, and using a remote rear dolly with RWS; it was barely able to get round the tight hairpin and looked as if it would have been better with one of the banksman steered dollies.
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