Ackermann steering geometry

The Ackermann steering geometry (also called Ackermann's steering trapezium) is a geometric arrangement of linkages in the steering of a car or other vehicle designed to solve the problem of wheels on the inside and outside of a turn needing to trace out circles of different radii. It was invented by the German carriage builder Georg Lankensperger in Munich in 1816, then patented by his agent in England, Rudolph Ackermann (1764–1834) in 1818 for horse-drawn carriages.

Source: Wikipedia — Ackermann steering geometry (CC BY-SA 4.0)