DE102015005464A1 - System and method for steering a vehicle - Google Patents

Abstract

The present invention relates to a method of steering a vehicle (100) having front and rear wheel steering, comprising the steps of: continuously determining (s401; s410) the environmental configuration of the vehicle (100) including the presence of objects; During a change in the direction of travel that causes steering based on the front wheels, determining (s402; s430) whether there is a risk that the vehicle (100) is undesirably associated with objects (O1; O2; O3; 110; O4; O5; O6) in the particular environment configuration superimposed; In the event that it is determined that there is such a risk, free use (s403) of steering from the rear wheels to overlay with objects O1; O2; O3; 110; O4; O5; O6) in the particular environment configuration to a sufficient extent and with a selected margin. The invention also relates to a computer program product comprising program code (P) for a computer (200; 210; 500) for implementing a method according to the invention. The invention also relates to a system for steering a vehicle and a vehicle (100) equipped with the system.

Description

Field of the invention

The present invention relates to a method for steering a vehicle. More specifically, the present invention relates to a method for steering a vehicle with front and rear wheel steering. The invention also relates to a computer program product comprising program code for a computer for implementing a method according to the invention. The invention also relates to a system for steering a vehicle and a vehicle equipped with the system.

background

City buses with two vehicle bodies, a front vehicle body and a rear vehicle body, with a suitable joint disposed therebetween, and three wheel axles can be steered by a driver via a first, front pair of wheels, for example, by means of a steering wheel. The first, front pair of wheels is steerably arranged on the front vehicle body. In such buses, a second, rear pair of wheels may not be steerably disposed on a wheel axle on the front wheel body, d. H. the second, rear pair of wheels is neither automatically nor manually steerable. Further, in one embodiment, these buses have a third, rear pair of wheels that is automatically steerable on a wheel axle on the second, rear vehicle body.

The steering of the third, rear wheel pair based on a steering angle of the front, manually steerable wheel pair is known. The third, rear pair of wheels is automatically steered to the extent that an angular deflection thereof can not exceed an angular deflection of the front, manually steerable wheel pair. The third, rear pair of wheels is also steered, which, when the front vehicle body of the vehicle is steered straight, z. B. after a curve was driven, an automatically controlled angular deflection of the third, rear wheel pair also again assumes a central original position. This can lead to a number of different disadvantages.

In conjunction with curves, z. B. T-intersections, where the vehicle changes its direction of travel substantially by 90, the steering of the third, rear wheel pair can cause the curve is not sufficiently maintained. This may result in the second, rear body of the vehicle driving too much "short cut" and the rear body of the vehicle traveling over a curb or interfering with another obstacle in an undesirable manner.

In the event that the rear vehicle body in a curve that is driven by the steering of the third, rear wheel pair, too far, this can lead to discomfort in the passengers who are in the rear of the rear body of the vehicle. This may be caused by an inclination that occurs when the rear vehicle body is automatically steered to center on the front vehicle body, i. H. that the two bodies of the vehicle have a common longitudinal line.

The buses of the type described above often have a so-called "overhang", which is located at the very rear of the rear vehicle body. If the rear body of the vehicle deflects too far during a turn based on the steering of the third, rear pair of wheels, objects located on the opposite side of the curve may be hit and damaged. This is especially serious when the object is a living being, such as a cyclist.

The FR 2 916 721 describes a system in which a rear wheel of a vehicle is steered to obstacles only based on lateral distances. This is used in connection with the so-called parallel parking of vehicles. A maximum steering angle of the rear wheels is limited to a prevailing steering angle of the steerable front wheels of the vehicle.

Object of the invention

An object of the present invention is to provide a new and advantageous method and system for steering a vehicle.

An object of the present invention is to provide a new and advantageous method and system for steering a vehicle with front and rear wheel steering.

An object of the present invention is to provide a method and a system for steering a vehicle, wherein the safety of both the passengers on board and the environment of the vehicle is improved.

An object of the present invention is to provide a robust, reliable and user-friendly method and system for steering a vehicle.

Yet another object of the present invention is to provide a method and system for steering a vehicle, wherein a risk of collision relative to the vehicle Vehicle and the objects in the vicinity of the vehicle is minimized.

Yet another object of the present invention is to provide a method and system for steering a vehicle while maintaining high passenger comfort associated with changes in the direction of travel of the vehicle.

Brief description of the invention

These and other objects presented in the following description are achieved by a method and a system and a motor vehicle, a computer program and a computer program product of the types described above, and further having the features that are described in the independent part of the accompanying independent Claims are given. Preferred embodiments of the method and system are defined in the appended independent claims.

The embodiments of the system have advantages similar to those of the corresponding embodiments of the method mentioned herein.

• – kontinuierliches Bestimmen einer Umgebungskonfiguration des Fahrzeugs, wozu das Vorliegen von Objekten gehört;
• – in Verbindung mit einer Änderung der Fahrtrichtung, die ein Lenken anhand der Vorderräder bedingt, Bestimmen, ob ein Risiko besteht, dass sich das Fahrzeug auf unerwünschte Weise mit Objekten in der bestimmten Umgebungskonfiguration überlagert;
• – für den Fall, dass bestimmt wird, dass dieses Risiko besteht, freies Verwenden des Lenkens anhand der Hinterräder, um ein Überlagern mit Objekten in de bestimmten Umgebungskonfiguration in ausreichendem Maße und mit einem ausgewählten Spielraum zu vermeiden.

In accordance with one aspect of the present invention, a method for steering a vehicle with front and rear wheel steering is provided. The method comprises the following steps:

• Continuously determining an environmental configuration of the vehicle, including the presence of objects;
• In conjunction with a change in direction of travel that causes steering based on the front wheels, determining whether there is a risk that the vehicle will undesirably interfere with objects in the particular environment configuration;
• - in the event that it is determined that there is a risk, free use of the steering from the rear wheels, to avoid overlapping with objects in the specific environment configuration sufficiently and with a selected margin.

This provides a method that automatically steers the rear wheels to turn on an optimal track. The vehicle is thus steered so as to avoid undesirable interference with physical objects, while at the same time maintaining a high degree of passenger comfort in the event of changes in the direction of travel. An undesirable interference is also avoided between an overhang of the vehicle and physical objects on one side, which is opposite to a change of the direction of travel. A safe and comfortable method for steering a vehicle with front and rear wheel steering is thus provided.

The clearance may be a predetermined safety margin. The margin may be a safety margin stored in advance in a control unit. The margin may be selected depending on the object identifiers of the objects in the particular environment configuration. The margin can be selected depending on the position, configuration and motions of objects in the particular environment configuration. The margin can be determined automatically by means of suitable elements. According to one embodiment, the margin can be determined in real time by means of suitable elements.

According to one example, the safety distance may be 10, 20 or 50 cm in case the detected object is a curb. This means that the vehicle, and in particular the rear part of the vehicle, can not be closer than the safety distance from the determined physical object.

According to one example, the safety distance may be 1, 2 or 3 m in the case where the detected object is a pedestrian.

An environmental configuration can thus be advantageously determined for the surroundings of the vehicle in all directions from the vehicle. Thereby, a substantially complete and comprehensive environment configuration comprising objects can be determined.

By freely using the steering on the rear wheels, the maximum allowable steering angle of the same is not limited to a prevailing or maximum steering angle of the manually steered front wheels of the vehicle.

• – Bestimmen der Umgebungskonfiguration, wozu das Vorliegen von Objekten gehört, anhand mindestens einer von einer ersten Sensorkonfiguration, einer zweiten Sensorkonfiguration, einer dritten Sensorkonfiguration und einer vierten Sensorkonfiguration. Die vier Sensorkonfigurationen können völlig verschiedener Art sein. Die vier Sensorkonfigurationen können beispielsweise aus einer Videokamera, einer IR-Kamera, einer Ultraschalleinheit oder einer Radareinheit bestehen.

The method may include the following step:

• Determining the environmental configuration, including the presence of objects, based on at least one of a first sensor configuration, a second sensor configuration, a third sensor configuration, and a fourth sensor configuration. The four sensor configurations can be completely different. The four sensor configurations may consist, for example, of a video camera, an IR camera, an ultrasound unit or a radar unit.

Thus, a versatile method is provided for detecting the presence of high-accuracy objects based on different independent sources. According to one embodiment, the data from the various sensor configurations may be merged, further increasing accuracy in determining the presence of objects.

• – Bestimmen, ob das Risiko besteht, basierend auf Daten bezüglich der Position, der Konfiguration und der Bewegung des Fahrzeugs, sowie auf Daten bezüglich der Position, der Konfiguration und der Bewegung mindestens eines Objekts in der bestimmten Umgebungskonfiguration.

The method may include the following step:

• Determining whether the risk is based on data relating to the position, configuration and movement of the vehicle, as well as data relating to the position, configuration and movement of at least one object in the particular environment configuration.

Thus, a possible risk of undesirable superimposition of the vehicle and the object can be determined with high accuracy.

• – Lenken der Hinterräder des Fahrzeugs, um eine Überlagerung zu vermeiden, basierend auf Daten bezüglich der Position, der Konfiguration und der Bewegung des Fahrzeugs, im Vergleich zu Daten bezüglich der Position, der Konfiguration und der Bewegung mindestens eines Objekts in der bestimmten Umgebungskonfiguration.

The method may include the following step:

• Steering the rear wheels of the vehicle to avoid interference based on data relating to the position, configuration and movement of the vehicle, as compared to data relating to the position, configuration and movement of at least one object in the particular environment configuration.

Thus, a precise steering of the rear wheels of the vehicle is achieved in order to avoid an undesirable interference with at least one object outside the vehicle.

• – Auswählen des Abstands und dabei Berücksichtigen des Fahrgastkomforts, indem ein Schlingern beim Lenken anhand der Hinterräder minimiert wird. Eine stärkere seitliche Neigung wird dadurch vermieden, wobei diese Neigung verschlechterten Komfort verursachen kann oder eine direkte Gefahr für die Fahrgäste an Bord des Fahrzeugs sein kann. Dadurch wird ein sicheres Verfahren zum Lenken eines Fahrzeugs mit Vorder- und Hinterradlenkung, wie etwa eines Gelenkbusses, erreicht. Ein unnötig starkes Ausscheren eines hinteren Abschnitts, wie etwa eines Überhangs, des Fahrzeugs kann dadurch vermieden werden.

The method may include the following step:

• - Selecting the distance while taking into account the passenger comfort by minimizing a lurching when steering on the rear wheels. A greater lateral inclination is thereby avoided, which inclination may cause deteriorated comfort or may be a direct danger to the passengers on board the vehicle. Thereby, a safe method for steering a vehicle with front and rear wheel steering, such as a jointed bus, is achieved. An unnecessarily strong exaggeration of a rear portion, such as an overhang, of the vehicle can be avoided.

According to the method of the invention, automatically steered rear wheels need not follow the path of a front wheel pair in conjunction with changes in the direction of travel of the vehicle.

The method according to the invention is applicable to a towing vehicle with a trailer having steerable rear wheels.

• – wenn mit den Vorderrädern gelenkt wird, Lenken mit den Hinterrädern in die gleiche Richtung wie die Vorderräder oder in die entgegengesetzte Richtung, in Abhängigkeit von Daten bezüglich der Position, Konfiguration und Bewegung von Objekten in der Umgebungskonfiguration, um eine Überlagerung mit den Objekten zu vermeiden oder zu reduzieren.

The method may include the following step:

• When steering with the front wheels, steer with the rear wheels in the same direction as the front wheels or in the opposite direction, depending on data relating to the position, configuration and movement of objects in the environment configuration to avoid interference with the objects or reduce.

• – wenn mit den Vorderrädern gelenkt wird, Lenken mit den Hinterrädern in die gleiche Richtung wie die Vorderräder oder in die entgegengesetzte Richtung, in Abhängigkeit von Daten bezüglich der Position, der Konfiguration und der Bewegung von Objekten in der Umgebungskonfiguration, um eine Überlagerung mit den Objekten zu vermeiden oder zu reduzieren, und in Abhängigkeit von Daten bezüglich der Position, der Konfiguration und der Bewegung des Fahrzeugs.

The method may include the following step:

• When steering with the front wheels, steering with the rear wheels in the same direction as the front wheels or in the opposite direction, depending on data relating to the position, configuration and movement of objects in the environment configuration, to overlap with the objects to avoid or reduce, and depending on data relating to the position, configuration and movement of the vehicle.

The position of the vehicle can be determined, for example, by means of a GPS unit. The position of the object can be determined from an electronic map stored in a control unit of the vehicle. The configuration of the vehicle and at least one particular object may be predetermined based on data stored in a memory of a control unit of the vehicle. The configuration of the vehicle and the objects may include data regarding shape, extent, width, and height. The configuration of the vehicle and the objects may include data regarding shape profiles.

This achieves versatile, flexible and dynamic steering from the rear wheels of the vehicle. Thereby, an effective adaptation to a certain optimum trajectory for the rear portion of the vehicle can be achieved. As a result, safe driving in conjunction with a so-called S-curve can be achieved.

• – kontinuierliches Abtasten der Umgebungskonfiguration vor dem Fahrzeug und entlang den beiden Längsseiten des Fahrzeugs. Dadurch kann eine genaue und im Wesentlichen vollständige Umgebungskonfiguration bestimmt werden. Dadurch kann eine zuverlässige Grundlage für die Risikobestimmung bereitgestellt werden.

The method may include the following step:

• - Continuous scanning of the environment configuration in front of the vehicle and along the two longitudinal sides of the vehicle. This allows an accurate and substantially complete environmental configuration to be determined. This can provide a reliable basis for risk assessment.

The method may include the step of continuously sensing the environmental configuration behind the vehicle. This can provide a versatile method. By the Arranging the sensor configurations to determine the environmental configuration not only on the sides and to the front, the inventive method can also be applied in conjunction with changes in the direction of travel of the vehicle when resetting the vehicle.

• – für den Fall, dass bestimmt wird, dass sich mobile Objekte in der Umgebungskonfiguration befinden, Extrapolieren der Bewegungen dieser Objekte, um das Risiko einer unerwünschten Überlagerung mit Objekten in der bestimmten Umgebungskonfiguration zu bestimmen. Dadurch wird ein Fahren des Fahrzeugs mit größerer Sicherheit erreicht. Das Risiko einer unerwünschten Überlagerung, wie etwa einer Kollision, mit umgebenden bewegbaren Objekten, Fahrzeugen, Mopedfahrern, Fahrradfahrern, Fußgängern oder Tieren usw. wird dadurch reduziert.

The method may include the following step:

• In the event that it is determined that mobile objects are in the environment configuration, extrapolating the motions of those objects to determine the risk of undesired overlay with objects in the particular environment configuration. Thereby driving the vehicle is achieved with greater certainty. The risk of unwanted interference, such as a collision, with surrounding moving objects, vehicles, moped riders, cyclists, pedestrians or animals, etc. is thereby reduced.

This achieves an automated method for steering a vehicle with front and rear wheel steering.

• – Elemente, die geeignet sind, um kontinuierlich eine Umgebungskonfiguration des Fahrzeugs, wozu das Vorliegen von Objekten gehört, zu bestimmen;
• – Elemente, die geeignet sind, um bei Änderungen der Fahrtrichtung, die ein Lenken anhand der Vorderräder bedingen, zu bestimmen, ob ein Risiko besteht, dass sich das Fahrzeug auf unerwünschte Weise mit Objekten in der bestimmten Umgebungskonfiguration überlagert;
• – Elemente, die geeignet sind, um für den Fall, dass bestimmt wird, dass dieses Risiko besteht, das Lenken anhand der Hinterräder frei zu verwenden, um eine Überlagerung mit Objekten in der bestimmten Umgebungskonfiguration in ausreichendem Maße und mit einem ausgewählten Spielraum zu vermeiden.

According to one aspect of the present invention, there is provided a method of steering a vehicle having front and rear wheel steering, the system comprising:

• Elements suitable for continuously determining an environmental configuration of the vehicle, including the presence of objects;
• Elements suitable for determining, in the event of changes in the direction of travel which cause steering on the basis of the front wheels, whether there is a risk that the vehicle will undesirably overlap with objects in the determined environment configuration;
• Elements suitable, in the event that it is determined that there is a risk, to freely use the steering on the rear wheels to avoid overlaying objects in the given environment configuration sufficiently and with a selected margin.

• – mindestens eine von einer ersten Sensorkonfiguration, einer zweiten Sensorkonfiguration, einer dritten Sensorkonfiguration und einer vierten Sensorkonfiguration, wobei die Sensorkonfigurationen geeignet sind, um die Umgebungskonfiguration, die das Vorliegen von Objekten umfasst, zu bestimmen.

The system may include:

• At least one of a first sensor configuration, a second sensor configuration, a third sensor configuration, and a fourth sensor configuration, wherein the sensor configurations are adapted to determine the environmental configuration comprising the presence of objects.

The first sensor configuration may include a video camera and a suitable image processing program.

The second sensor configuration may include an IR camera and a suitable image processing program.

The third sensor configuration may include an ultrasound unit and a suitable acoustic echo processing program.

The fourth sensor configuration may include a radar unit.

• – Elemente, die geeignet sind, um zu bestimmen, ob das Risiko vorliegt, basierend auf Daten bezüglich der Position, der Konfiguration und der Bewegung des Fahrzeugs und bezüglich der Position, der Konfiguration und der Bewegung mindestens eines Objekts in der bestimmten Umgebungskonfiguration.

The system may include:

• Elements suitable for determining whether the risk exists based on data relating to the position, configuration and movement of the vehicle, and the position, configuration and movement of at least one object in the particular environment configuration.

• – Elemente, die geeignet sind, um die Hinterräder des Fahrzeugs zu lenken, um eine Überlagerung zu vermeiden, basierend auf Daten bezüglich der Position, der Konfiguration und der Bewegung des Fahrzeugs sowie auf Daten bezüglich der Position, der Konfiguration und der Bewegung mindestens eines Objekts in der bestimmten Umgebungskonfiguration.

The system may include:

• Elements suitable for steering the rear wheels of the vehicle to avoid interference, based on data relating to the position, configuration and movement of the vehicle, as well as data relating to the position, configuration and movement of at least one object in the specific environment configuration.

The system may include elements adapted to select the margin that accommodates passenger comfort by minimizing roll during steering from the rear wheels.

The system may comprise elements adapted to direct, when steering with the front wheels, to the rear wheels in the same direction as the front wheels or in the opposite direction, depending on data relating to the position, configuration and movement of objects in the environment configuration to avoid or reduce overlaying of the objects.

The system may include elements suitable for continuously scanning the environmental configuration in front of the vehicle and along the two longitudinal sides of the vehicle.

The system may include elements that are suitable for continuously scanning the environmental configuration behind the vehicle.

The system may include elements that, in the event that it is determined that mobile objects are in the environmental configuration, may extrapolate the motions of those objects to reduce the risk of undesired ones Overlay with objects in the specific environment configuration.

According to one aspect of the present invention, there is provided a vehicle comprising the system according to the invention. The vehicle may be a motor vehicle, such as a truck, a bus, or a car. The vehicle may be a so-called articulated bus, which is also referred to as a city bus or folding bus. The vehicle may be a minibus or a long-distance bus. According to one embodiment, the vehicle is an articulated bus with three pairs of wheels, which are each arranged on their respective wheel axle, wherein a front pair of wheels is manually steered, a middle pair of wheels is not steerable and a rear pair of wheels according to the inventive method is automatically steered.

According to one aspect of the present invention, there is provided a computer program for steering a vehicle having front and rear wheel steering, the computer program comprising program code for causing an electronic control unit or other computer connected to the electronic control unit to follow the steps one of claims 1 to 9 executes.

According to one aspect of the present invention, there is provided a computer program for steering a vehicle having front and rear wheel steering, the computer program comprising program code for causing an electronic control unit or other computer connected to the electronic control unit to follow the steps one of claims 1 to 9, when the program code is executed on the control unit or the computer.

According to one aspect of the present invention, there is provided a computer program for steering a vehicle having front and rear wheel steering, the computer program comprising program code stored on a computer readable medium for causing an electronic control unit or other computer to be connected to the computer electronic control unit is connected, the steps according to one of claims 1 to 9 executes.

According to one aspect of the present invention, there is provided a computer program for steering a vehicle having front and rear wheel steering, the computer program comprising program code stored on a computer readable medium for causing an electronic control unit or other computer to be connected to the computer Electronic control unit is executed, the steps according to one of claims 1 to 9 executes when the program code is executed on the control unit or the computer.

According to one aspect of the present invention, there is provided a computer program product comprising program code stored on a computer readable medium for carrying out the method steps of any one of claims 1 to 9 when the program code is stored on the electronic control unit or another computer connected to the computer electronic control unit is connected, is executed.

According to one aspect of the present invention, there is provided a computer program product comprising program code non-volatile stored on a computer readable medium for performing the method steps of any of claims 1 to 9 when the program code is stored on an electronic control unit or other computer is connected to the electronic control unit, is executed.

Additional objects, advantages, and novel features of the present invention will become apparent to those skilled in the art from the following details and from practicing the invention. Although the invention will be described below, it is to be understood that the invention is not limited to the specific details described. Those skilled in the art having access to the present teachings will recognize additional applications, changes and assimilation in various fields which are within the scope of the invention.

General description of the drawings

For a better understanding of the present invention and its additional objects and advantages, reference is now made to the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals designate the same parts throughout the several figures. Show it:

1a schematically a vehicle according to an embodiment of the present invention;

1b schematically a vehicle according to an embodiment of the present invention;

2 schematically a system in a vehicle according to an embodiment of the present invention;

3a to c schematically various traffic situations for a vehicle;

4a schematically a block diagram of a method according to an embodiment of the present invention;

4b schematically and in more detail a block diagram of a method according to an embodiment of the present invention;

5 schematically a computer according to an embodiment of the present invention.

Detailed description of the figures

As used herein, the term "connection" refers to a communication link, which may be a physical line, an opto-electronic communication line, or a non-physical line, such as a wireless link, e.g. B. a radio link or a high-frequency connection, can act.

The term "environment configuration" refers here to a determined representation of the actual environment of the vehicle. The environment configuration can include different types of objects. The objects can consist of structures. The structures may consist of roads, paths, curbs, buildings, etc. The objects may be of living beings or lifeless objects, e.g. B. from humans, animals, posts and traffic signs exist. The environmental configuration may be limited to a radius of 5, 10, or 50 meters as measured from the vehicle. The environmental configuration may consist of a number of segments surrounding the vehicle, which may be covered by a suitable sensor configuration. A sensor configuration may be arranged to cover a segment of the environment of the vehicle at appropriate angles and distances.

The term "overlay" here refers to the fact that the vehicle somehow comes in physical contact with any object. "Overlapping" can mean that the vehicle collides with the objects, it touches, runs over, scratched or abuts it.

The term "change of direction of travel" here refers to changes in the direction of travel of the vehicle. Changes in direction of travel may include turning at an intersection, lane change on a lane, or turning into and out of a bus stop. The change of direction can be initiated and executed by a driver of the vehicle, for. B. based on a conventional steering wheel for steering the front wheels of the vehicle.

The term "object" here refers to an object that may be movable or immobile. The object may be a loose object, such as a safety cone. The object can be a fixed object or a structure. The object may be a living being, such as a human or an animal. As used herein, the term "object" may refer to any type of obstacle with which contact with the vehicle is to be avoided, such as a traffic island or curb, or any other object near the vehicle.

A side view of a vehicle 100 is related to 1a shown. The exemplary vehicle 100 is a bus with a pair of front wheels, which is arranged steerable on a front wheel axle X1. A driver of the bus can thus on the basis of suitable controls, such as a steering wheel, in a direction of travel of the bus 100 to steer.

The exemplary vehicle is further equipped with a pair of rear wheels disposed on a rear wheel axle X2. According to the method of the invention, the rear wheel pair can optionally be steered freely. The free steering includes a swing angle of the rear wheel pair on the axle X2, which may exceed or fall below a swing angle of the front wheel pair on the axle X1.

The present invention is particularly applicable to a so-called articulated bus. A vehicle 100 in the form of a articulated bus is with respect to 1b displayed. The articulated bus can also be referred to as a city bus or folding bus.

The vehicle 100 consists here of a front, first vehicle body 100a and a second, rear vehicle body 100b , The first vehicle body 100a and the second vehicle body are connected by means of a hinge portion JP. The vehicle 100 Here, a front, first pair of wheels on a first axis X2 of the first vehicle body 100a on. The vehicle 100 Here, a rear, second pair of wheels on a second axis X2 of the first vehicle body 100a on. The vehicle 100 here has a rear, third pair of wheels on a third axis X3 of the second vehicle body 100b on.

The front, first pair of wheels is arranged steerable in a conventional manner, wherein a driver can influence the steering angle, for example by means of a steering wheel. The rear, second pair of wheels can be arranged steerable according to the method according to the invention, but it can also be arranged rigidly on the second axis X2. The rear, third pair of wheels is arranged steerably on the third axis X3 according to the method according to the invention.

It is therefore understood that a pair of wheels of at least one rear wheel axle according to the inventive method is arranged steerable. In other words, at least one of the pairs of wheels may be arranged on the second axis X2 and the third axis X4 for automatic steering. A control unit on board the vehicle is thus arranged to automatically control a swivel angle of at least one rear wheel pair, according to one aspect of the present invention.

An arrow indicates a direction of straight ahead of the vehicle 100 at.

The vehicle according to the present invention may consist of any suitable vehicle with front and rear wheel steering. The vehicle may be a road vehicle. The vehicle may be an off-road vehicle. The vehicle according to the present invention may be in addition to a bus, such as a city bus, a minibus or a long-distance bus, also from a truck, a car or other vehicle with front and rear wheel steering.

The invention is also applicable to a towing vehicle with a steerable front wheel pair, wherein a trailer is attached to the towing vehicle with a rear steerable pair of wheels. The wheel pair of the trailer is thus optionally steered according to the method of the invention. The term "optionally" here refers to situations where there is a risk of interference between the vehicle and a detected object (eg an obstacle).

2 forms a schematic system 299 for steering the vehicle 100 from. The system 299 includes a first control unit 200 , which is arranged to be a vehicle 100 steers with front and rear wheel steering.

The first control unit 200 is for communication with a transmitter configuration 220 arranged. The transmitter configuration 220 is suitable for continuously or discontinuously providing data for the first control unit 200 are of importance. Examples of such data may include vehicle speed, vehicle acceleration, direction of travel, a change in direction of travel, and a measurement of the applied braking force of the vehicle. This data may be used to enable or disable automatic steering of at least one rear wheel pair according to the method of the invention.

For example, the first control unit 200 adjust the steering of the at least one rear-wheel pair in the event that the vehicle is driven at a speed or at an acceleration exceeding a respective predetermined threshold. According to one example, the automatic steering of the at least one rear wheel pair is interrupted in the event that the vehicle is driven at a speed or at an acceleration that exceeds a respective predetermined threshold.

For example, the first control unit 200 adjust the steering of the at least one rear-wheel pair in the event that the vehicle is driven during a change in the direction of travel that exceeds a predetermined threshold. According to one example, the automatic steering of the at least one rear-wheel pair is interrupted in the event that the vehicle is driven during a change in the direction of travel that exceeds a respective predetermined threshold.

For example, the first control unit 200 allowing the steering of the at least one rear-wheel pair to be initiated in the event that the vehicle is driven at a speed or at an acceleration that is less than a respective predetermined threshold.

For example, the first control unit 200 allow the initiation of the steering of the at least one rear-wheel pair in the event that the vehicle is driven during a change of the direction of travel, which falls below a predetermined threshold.

For example, the first control unit 200 initiating the steering of the at least one rear-wheel pair in the event that the measurement of the applied braking force of the vehicle falls below a predetermined threshold.

The first control unit 200 is for communication with a first transmitter configuration 230 arranged over a connection L230. The first sensor configuration 230 is appropriate to the environmental configuration of the vehicle 100 to determine continuously or discontinuously. The first sensor configuration 230 is arranged to continuously or discontinuously communicate data relating to the particular environment configuration via the link L230 to the first control unit 200 to send. The data relating to the particular environment configuration may include data pertaining to any objects located in the environment of the vehicle 100 are located. The first sensor configuration 230 includes a video camera. The first sensor configuration 230 can be equipped with a suitable image processing program to control the position, configuration and movement of one or more objects in the Determine environment configuration. According to an alternative, the first control unit 200 arranged to continuously receive a video stream from the first sensor configuration 230 receives and determines, by means of a suitable image processing program, the position, configuration and movement of one or more objects in the environment configuration.

The first control unit 200 is for communication with a second transmitter configuration 240 arranged over a connection L240. The second sensor configuration 240 is appropriate to the environmental configuration of the vehicle 100 to determine continuously or discontinuously. The second sensor configuration 240 is arranged to continuously or discontinuously communicate data relating to the particular environment configuration via connection L240 to the first control unit 200 to send. The data relating to the particular environment configuration may include data pertaining to any objects located in the environment of the vehicle 100 are located. The second sensor configuration 240 includes an IR camera. The second sensor configuration 240 may be equipped with a suitable image processing program to determine the position, configuration and movement of one or more objects in the environment configuration. According to an alternative, the first control unit 200 arranged to continuously receive a video stream from the second sensor configuration 240 receives and determines, by means of a suitable image processing program, the position, configuration and movement of one or more objects in the environment configuration. Thermal signatures of humans and / or animals and / or other objects, such as vehicles with internal combustion engine, can be determined under darkened viewing conditions or in the dark.

The first control unit 200 is for communication with a third transmitter configuration 250 arranged over a connection L250. The third sensor configuration 250 is appropriate to the environmental configuration of the vehicle 100 to determine continuously or discontinuously. The third sensor configuration 250 is arranged to continuously or discontinuously communicate data relating to the particular environment configuration via the link L250 to the first control unit 200 to send. The data relating to the particular environment configuration may include data pertaining to any objects located in the environment of the vehicle 100 are located. The third sensor configuration 250 includes an ultrasound unit, the arbitrary objects in the vicinity of the vehicle 100 based on reflected sound can determine. The third sensor configuration 250 may be equipped with a suitable acoustic echo processing program to determine the position, configuration and movement of one or more objects in the environmental configuration. According to an alternative, the first control unit 200 arranged to continuously receive a video stream from the third sensor configuration 250 receives and determines, by means of a suitable acoustic echo processing program, the position, configuration and movement of one or more objects in the environmental configuration. The third sensor configuration 250 works satisfactorily under reduced visibility conditions and in the dark.

The first control unit 200 is for communication with a fourth transmitter configuration 260 arranged over a connection L260. The fourth sensor configuration 260 is appropriate to the environmental configuration of the vehicle 100 to determine continuously or discontinuously. The fourth sensor configuration 260 is arranged to continuously or discontinuously communicate data to the first control unit with respect to the particular environment configuration via connection L260 200 to send. The data relating to the particular environment configuration may include data pertaining to any objects located in the environment of the vehicle 100 are located. The fourth sensor configuration 260 includes a radar unit that can determine the position, configuration and movement of one or more objects in the environmental configuration based on reflected emitted radio waves. According to an alternative, the first control unit 200 arranged to continuously receive appropriate data from the fourth sensor configuration 260 receives and determines, by means of a suitable computer program, the position, configuration and movement of one or more objects in the environment configuration.

The system 299 may include a suitable number of different sensor configurations for determining the position, configuration, and movement of objects in the environment. In one example, laser light may be used to detect the presence, location, shape, configuration, and movement of any objects in the environment of the vehicle 100 to determine.

The system may determine the position, configuration, and movement of one or more objects in the environmental configuration with respect to the vehicle 100 based on at least one of the sensor configurations 230 . 240 . 250 and 260 determine.

The system 299 may include a suitable arrangement of different sensor configurations to identify object identifiers to determine any objects in the vicinity of the vehicle. The object identifiers may include the presence, position, shape, configuration, and motion of the objects. It can thus be determined whether the object is a living being, such as a human or an animal. A suitable sensor configuration can thus determine the position, speed and acceleration of the objects. A suitable sensor configuration can thus predict a future position of a moving object. It should be noted that the object identifiers may be from any of the example sensor configurations, other suitable sensor configurations in the vehicle, or in the first control unit 200 based on data from at least one sensor configuration can be determined.

The first control unit 200 is for communication with a steering device 270 arranged over a connection L270. The steering device 270 is arranged such that it one or more rear wheel pairs of the vehicle 100 directs. Regarding 1a and 1b It can be said that the rear wheel pair on the rear axles X2 and X3 of the vehicle 100 already exists. The steering device may include, for example, electromagnetic, hydraulic, electro-hydraulic, pneumatic or electropneumatic steering of the at least one pair of rear wheels.

According to one embodiment, the first control unit 200 arranged such that it via L270 control signals to the steering device 270 sends to control a steering angle of at least one rear wheel pair. According to one embodiment, in the event that the steering of more than one pair of rear wheels is performed, the rear wheel pairs can be controlled to different steering angles from each other.

The second control unit 210 is for communication with the first control unit 200 arranged over a connection L210. The second control unit 210 Can be detachable to the first control unit 200 be connected. The second control unit 210 may be a control unit located outside the vehicle 100 located. The second control unit 210 may be arranged to perform the method steps according to the invention. The second control unit 210 Can be used to program code to the first control unit 200 to load, in particular program code for carrying out the method according to the invention. The second control unit 210 may alternatively be for communication with the first control unit 200 be arranged over an internal network in the vehicle. The second control unit 210 may be arranged to have substantially the same functions as the first control unit 200 performs.

3a forms the vehicle schematically 100 in a first traffic situation. Here is shown the vehicle 100 Turn right at a T-junction and drive on the right. The vehicle 100 is shown here as an articulated bus, the first vehicle body 100a and a second vehicle body 100b includes. A first object O1 may be in the environment configuration of the vehicle 100 by suitable sensor elements (such as the sensor configuration 230 . 240 . 250 . 260 ) be determined. The first object O1 is here an edge of a curb. A second object O2 may be in the environment configuration of the vehicle 100 be determined by suitable sensor elements. The second object is here a driving cyclist. A third object O3 may be in the environment configuration of the vehicle 100 be determined by suitable sensor elements. The third object O3 is here a moving car.

According to this example, it is determined that there is a risk that the vehicle will interfere with the first, second, and third objects in the particular environment configuration. Steering is here performed on the rear wheels on at least one of the second and third rear rear wheel pairs (each axis X2 and X3) to sufficiently overlay all of the first, second and third objects in the particular environment configuration with a selected margin to avoid.

3a forms the vehicle schematically 100 in a second traffic situation. The vehicle 100 Here leads a lane change on a highway and drives on the right side. The vehicle 100 is shown here as an articulated bus, the first vehicle body 100a and a second vehicle body 100b includes. A moving object 110 can in the environment configuration of the vehicle 100 be determined by suitable sensor elements. The object 110 Here consists of a car that is at a substantially constant speed substantially in the same direction as the vehicle 100 moves.

According to this example, it is determined that there is a risk of the vehicle becoming 100 undesirable with the moving object 100 superimposed in the specific environment configuration. The steering is here carried out on the basis of the rear wheels on a third rear rear wheel pair (axis X3) to an overlay with the object 110 in the particular environment configuration to a sufficient extent and with a selected margin to be avoided.

3c forms the vehicle schematically 100 in a third traffic situation. Here is a vehicle 100 at a bus stop H stopped. In this context, three objects were detected in the environment configuration. A fourth object O4 in the form of a corner of a marginal strip, which has already passed safely past, is determined here according to the method according to the invention. A fifth object O5 in the form of a corner of a marginal strip, which is to be safely driven past, was determined here according to the method according to the invention. In addition, a sixth object O6 in the form of a car driving ahead was detected.

According to this example, it is determined that there is a risk of the vehicle becoming 100 undesirably superimposed with the moving car O6 in the particular environment configuration. Furthermore, it can be determined that there is an additional risk that the vehicle will 100 undesirable with the fifth object O5 could overlap. Steering is here performed on the rear wheels on a third rear rear pair (axis X3) to avoid interference with the object O5 and the object O6 in the particular environment configuration sufficiently and with a selected margin.

4a schematically illustrates a flowchart of a method for steering a vehicle 100 with front and rear wheel steering off.

• – kontinuierliches Bestimmen der Umgebungskonfiguration des Fahrzeugs 100, wozu das Vorliegen von Objekten gehört. Dies kann beispielsweise von mindestens einer von der ersten Sensorkonfiguration 230, der zweiten Sensorkonfiguration 240, der dritten Sensorkonfiguration 250 und der vierten Sensorkonfiguration 260 ausgeführt werden.

The method comprises a first method step s401. The step s401 includes the following step:

• - continuously determining the environmental configuration of the vehicle 100 which includes the presence of objects. This may be, for example, at least one of the first sensor configuration 230 , the second sensor configuration 240 , the third sensor configuration 250 and the fourth sensor configuration 260 be executed.

• – Bestimmen während einer Änderung der Fahrtrichtung, die ein Lenken anhand der Vorderräder bedingt, ob ein Risiko besteht, dass sich das Fahrzeug 100 auf unerwünschte Weise mit Objekten in der bestimmten Umgebungskonfiguration überlagert. Dies kann anhand der ersten Steuereinheit 200 basierend auf der bestimmten Umgebungskonfiguration ausgeführt werden.

The method comprises a second method step s402. Step s402 includes the following step:

• Determining during a change in the direction of travel, which requires a steering based on the front wheels, whether there is a risk that the vehicle 100 undesirably overlaid with objects in the particular environment configuration. This can be done using the first control unit 200 based on the specific environment configuration.

• – für den Fall, dass dieses Risiko besteht, freies Verwenden des Lenkens anhand der Hinterräder, um ein Überlagern mit Objekten in der bestimmten Umgebungskonfiguration in ausreichendem Maße und mit einem ausgewählten Spielraum zu vermeiden. Dies kann anhand der ersten Steuereinheit 200 und der Lenkvorrichtung 270 ausgeführt werden.

The method comprises a third method step s403. The step s403 includes the following step:

• - in the event of this risk, freely using the steering from the rear wheels, to avoid overlapping with objects in the particular environment configuration sufficiently and with a selected margin. This can be done using the first control unit 200 and the steering device 270 be executed.

The method is terminated after method step s403.

4b schematically illustrates a flowchart of a method for steering a vehicle 100 with front and rear wheel steering off. The method comprises a first method step s410. Step s410 includes the step of continuously or discontinuously determining the environmental configuration of the vehicle 100 , This can be done by at least one of the first sensor configuration 230 , the second sensor configuration 240 , the third sensor configuration 250 and the fourth sensor configuration 260 respectively. Step s410 may also include collating data from at least two of the four different sensor configurations, or from another suitable sensor configuration that may determine an environmental configuration that includes objects. Alternatively, at least parts of the environmental configuration may be based on the first control unit 200 based on data determined from at least one of the four sensor configurations.

Step s410 may include the step of continuously sensing the environmental configuration in front of the vehicle and along the two longitudinal sides of the vehicle and / or continuously sensing the environmental configuration behind the vehicle (mainly when the vehicle is in use) 100 resets).

Step s410, in the event that it is determined that mobile objects are in the environment configuration, may include the step of extrapolating the motions of those objects to determine the risk of undesired overlay with objects in the particular environment configuration (see step s430). ,

A subsequent method step s420 is carried out after method step s410.

The method step s420 includes the step of determining a change in the direction of travel of the vehicle 100 , This can be done by suitable means, for example by means of a transmitter in the transmitter configuration 220 , respectively. Alternatively, the change of direction of travel may be based on an on-board GPS unit and / or an electronic map included in the first control unit 200 is stored, determined. According to one example, it is determined that there is a change in the direction of travel when a given Angular deflection of a pair of wheels on the front wheel axle prevails at least for a predetermined period of time, or that an angular deflection of a pair of wheels on the first wheel axle exceeds a predetermined value. A subsequent method step s430 is carried out after method step s420.

Method step s430 includes the step of determining in conjunction with a change in direction of travel that causes steering based on the front wheels of the vehicle, whether there is a risk that the vehicle will undesirably interfere with objects in the particular environment configuration. This can be done using the first control unit 200 based on the object identifiers of objects in the environment configuration. Step s430, in the event that it is determined that there are moving objects in the environment configuration, may include the step of extrapolating the motion of these objects to determine the risk of unwanted interference with objects in the particular environment configuration.

Step s430 may include the step of determining whether the risk is based on data relating to the position, configuration and movement of the vehicle, as well as data relating to the position, configuration and movement of at least one object in the particular environmental configuration.

A subsequent method step s440 is carried out after method step s430.

The method step s440 comprises the step of determining the compensating steering of at least one rear wheel pair of the vehicle 100 , These pairs of wheels can be arranged on the second axis X2 and / or the third axis X3. This can be done by the first control unit 200 be executed. How to steer the pair of wheels on the second axis X2 and / or the third axis X3 to avoid both interference with the detected objects in the environmental configuration and the deterioration of passenger comfort of the passengers in the vehicle (in the event that Vehicle is a bus, for example) is determined by it. The breaking out of a rear overhang of the vehicle 100 this can be minimized. A suitable / optimal steering of the at least one rear wheel pair may be calculated / estimated / modeled / predicted / judged in step s440.

The step s430 may include the step of selecting a margin that accommodates the passenger comfort, so that a lurching during steering from the rear wheels is minimized. The margin may serve as the basis for determining the compensating steering according to the following method step s440.

A subsequent method step s450 is carried out after method step s440.

The method step s450 comprises the step of controlling a respective pivoting angle of the second and / or third steerable rear wheel pair according to the suitable and / or optimal steering as calculated / estimated / modeled / predicted / assessed in the preceding method step s430. When steering with the front wheels, method step s450 may include the step of steering with the rear wheels in the same direction as the front wheels or in the opposite direction, depending on the position, configuration, and movement of objects in the vehicle Environment configuration to avoid or reduce overlaying of the objects.

The method step s450 may include the step of steering the rear wheels of the vehicle 100 to avoid overlay based on data relating to the position, configuration and movement of the vehicle 100 and information regarding the location, configuration and movement of at least one object in the particular environment configuration.

Method step s450, in the event that such a risk is determined, may include the step of freely using steering from the rear wheels to avoid overlaying objects in the particular environment configuration sufficiently and with a selected margin.

A subsequent method step s460 is carried out after method step s450.

The method step s460 optionally comprises the step of deactivating the compensating steering according to step s450. It may be appropriate to disable the automatic / compensatory steering of the at least one rear-wheel pair when the entire vehicle 100 has a longitudinal extent, z. B. when the vehicle 100 driving straight on a track or if the first vehicle body 100a and the second vehicle body 100b have a common longitudinal axis in the direction of vehicle travel. The method is terminated after method step s460.

It is a diagram of an embodiment of a device 500 regarding 5 shown. In one embodiment, the control units 200 and 210 related to 2 be described, the device 500 include. The device 500 includes a non-volatile memory 520 , a data processing unit 510 and a read / write memory 550 , The non-volatile memory 520 has a first memory part 530 on which a computer program such as an operating system for controlling the operation of the device 500 is stored. The device 500 Also includes a bus controller, a serial communication port, I / O elements, an A / D converter, a time and date input / output unit, an event counter, and an interrupt controller (not shown). The non-volatile memory 520 also has a second storage section 540 ,

Thus, a computer program P for steering a vehicle 100 provided with front and rear wheel steering.

The computer program P may include routines for continuously or discontinuously determining the environmental configuration of the vehicle, including the presence of objects. The computer program P may include routines, a change in the direction of travel of the vehicle 100 to determine continuously or discontinuously. The computer program P may include routines during a change of direction of travel, a steering based on the front wheels of the vehicle 100 conditional on determining if there is a risk that the vehicle will 100 undesirably overlaid with objects in the particular environment configuration. The computer program P, in the event that such a risk is determined, may include routines to freely use the steering from the rear wheels to avoid overlaying objects in the particular environment configuration sufficiently and with a selected margin ,

The computer program P may include routines for relating the environmental configuration, including the presence of objects, to at least one of a first sensor configuration 230 , a second sensor configuration 240 , a third sensor configuration 250 and a fourth sensor configuration 260 to determine.

The computer program P may include routines for determining whether the risk exists based on data relating to the position, configuration and movement of the vehicle, as well as data relating to the position, configuration and movement of at least one object in the particular environment configuration ,

The computer program P may include routines to the rear wheels of the vehicle 100 to avoid overlapping based on data relating to the position, configuration and movement of the vehicle 100 and data relating to the location, configuration, and movement of at least one object in the particular environment configuration.

The computer program P may include routines to select the margin that accommodates passenger comfort so that lurching during steering from the rear wheels is minimized.

The computer program P may include routines for steering with the front wheels in the same direction as the front wheels or in the opposite direction when steering with the front wheels, depending on data relating to the position, the configuration and the movement of objects in the environment configuration, to avoid or reduce overlaying of objects.

The computer program P may include routines to set the environment configuration in front of the vehicle 100 and continuously or discontinuously scan along the two longitudinal sides of the vehicle.

The computer program P may include routines to control the environmental configuration behind the vehicle 100 to scan continuously or discontinuously.

The computer program P may include routines for extrapolating the motion of these objects in the event that it is determined that there are moving objects in the environment configuration to determine the risk of undesired overlay with objects in the particular environment configuration.

The program P may be in executable form or in compressed form in a memory 560 and / or in a random access memory 550 be saved.

If it is stated that the computing device 510 performs a particular function, it is understood that the data processing unit 510 a specific part of the program that is in the memory 560 is stored, or a specific part of the program, in the random access memory 550 is stored, executes.

The data processing device 510 can with a data connection 599 via a data bus 515 communicate. The non-volatile memory 520 is to Communication with the data processing unit 510 via a data bus 512 certainly. The non-volatile memory 560 is for communication with the data processing unit 510 via a data bus 511 certainly. The read / write memory 550 is arranged to communicate with the data processing unit via a data bus 514 to communicate. For example, connections L210, L220, L230, L240, L250, L260, L270, and L280 may be to the data port 599 be connected (see 2 ).

When data is at the data port 599 are received, they temporarily become in the second memory part 540 saved. Once the received input data has been stored, the data processing unit is 510 arranged to implement the execution of code as described above.

According to an embodiment, signals connected to the data port 599 received, data regarding object identifier. According to an embodiment, signals connected to the data port 599 data such as position, shape, configuration, nature (object or creature), trajectory, speed changes, and direction changes of one or more detected objects in the vehicle's environment configuration 100 ,

According to an embodiment, signals connected to the data port 599 received, data relating to the environment configuration of the vehicle 100 ,

Portions of the methods described herein may be used by the device 500 with the help of the data processing unit 510 that executes the program that is in the memory 560 or the read / write memory 550 is stored. The method described here is carried out when the device 500 executes the program.

The foregoing description of the preferred embodiments of the present invention has been provided to illustrate and describe the invention. It is not intended to be exhaustive or to limit the invention to the variants described. Numerous modifications and variations will be apparent to those skilled in the art. The embodiments have been chosen and described in order to explain the principles of the invention and their practical applications as well as possible and to enable those skilled in the art to understand the invention in its various embodiments and with the various modifications suitable for the particular use ,

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• FR 2916721 [0007]

Claims (21)

Method for steering a vehicle ( 100 comprising front and rear wheel steering, comprising the steps of: continuously determining (s401; s410) the environmental configuration of the vehicle ( 100 ), which includes the presence of objects; Determining (s402; s430) in conjunction with a change in the direction of travel that causes steering based on the front wheels, whether there is a risk of the vehicle ( 100 ) undesirably with objects (O1; O2; O3; 110 ; O4; O5; O6) in the determined environment configuration superimposed; - in the event that it is determined that there is such a risk, free use (s403; s450) of steering on the basis of rear wheels to overlay with objects O1; O2; O3; 110 ; O4; O5; O6) in the particular environment configuration to a sufficient extent and with a selected margin. The method of claim 1, comprising the step of: determining (s410) the environment configuration, including the presence of objects, from at least one of a first sensor configuration ( 230 ; 200 ; 210 ; 500 ), a second sensor configuration ( 240 ; 200 ; 210 ; 500 ), a third sensor configuration ( 250 ; 200 ; 210 ; 500 ) and a fourth sensor configuration ( 260 ; 200 ; 210 ; 500 ). Method according to claim 1 or 2, comprising the following step: - determining (s430) whether the risk exists, based on data relating to the position, the configuration and the movement of the vehicle ( 100 ), as well as data relating to the position, the configuration and the movement of at least one object (O1; O2; O3; 110 ; O4; O5; O6) in the particular environment configuration. Method according to one of the preceding claims, comprising the following step: steering (s450) the rear wheels of the vehicle ( 100 ) in order to avoid overlapping based on data relating to the position, configuration and movement of the vehicle ( 100 ), as well as data relating to the position, the configuration and the movement of at least one object (O1; O2; O3; 110 ; O4; O5; O6) in the particular environment configuration. Method according to one of the preceding claims, comprising the following step: - Selecting (s430) of the margin while taking into account the passenger comfort, so that a rolling is minimized in the control of the rear wheels. Method according to one of the preceding claims, comprising the following step: - when steering with the front wheels, steering (s450) with the rear wheels in the same direction as the front wheels or in the opposite direction, depending on data relating to the position, the configuration and the movement of objects (O1; O2; O3; 110 ; O4; O5; O6) in the environment configuration to avoid or reduce overlaying of the objects. Method according to one of the preceding claims, comprising the following step: Continuously scanning (s410) the environmental configuration in front of the vehicle and along the two longitudinal sides of the vehicle. Method according to one of the preceding claims, comprising the following step: Continuously sensing (s410) the environmental configuration behind the vehicle. Method according to one of the preceding claims, comprising the following step: In the event that it is determined that mobile objects are in the environment configuration, extrapolating (s430) the motions of those objects to determine the risk of undesired overlay with objects in the particular environment configuration. System for steering a vehicle ( 100 ) with front and rear wheel steering, comprising: - elements ( 200 ; 210 ; 230 ; 240 ; 250 ; 260 ; 500 ), which are suitable for the environmental configuration of the vehicle ( 100 ), which includes the presence of objects, to determine continuously; - Elements ( 200 ; 210 ; 500 ), which are suitable for determining, during a change in the direction of travel that causes steering on the basis of front wheels, whether there is a risk of the vehicle ( 100 ) undesirably with objects (O1; O2; O3; 110 ; O4; O5; O6) in the determined environment configuration superimposed; - in the event that it is determined that such a risk exists, elements ( 200 ; 210 ; 500 ) suitable for freely using the steering on the rear wheels to provide superimposition with objects (O1; O2; O3; 110 ; O4; O5; O6) in the particular environment configuration to a sufficient extent and with a selected margin. The system of claim 10, further comprising: at least one of a first sensor configuration ( 230 ; 200 ; 210 ; 500 ), a second sensor configuration ( 240 ; 200 ; 210 ; 500 ), a third sensor configuration ( 250 ; 200 ; 210 ; 500 ) and a fourth sensor configuration ( 260 ; 200 ; 210 ; 500 ), wherein the sensor configurations are suitable to the Environment configuration, which includes the presence of objects to determine. System according to claim 10 or 11, comprising: - elements ( 200 ; 210 ; 500 ), which are suitable for determining whether the risk exists, based on data relating to the position, the configuration and the movement of the vehicle ( 100 ), as well as data relating to the position, the configuration and the movement of at least one object (O1; O2; O3; 110 ; O4; O5; O6) in the particular environment configuration. A system according to any one of claims 10 to 12, comprising: - elements ( 200 ; 210 ; 500 ; 270 ), which are suitable for rear wheels of the vehicle ( 100 ), in order to avoid overlapping, based on data relating to the position, configuration and movement of the vehicle ( 100 ) as well as data relating to the position, the configuration and the movement of at least one object (O1; O2; O3; 110 ; O4; O5; O6) in the particular environment configuration. System according to one of the preceding claims, comprising: elements ( 200 ; 210 ; 500 ), which are adapted to select the margin that accommodates the passenger comfort, so that a lurching is minimized during the steering from the rear wheels. System according to one of claims 10 to 14, comprising: - when steering with the front wheels, elements ( 200 ; 210 ; 500 ; 270 ), which are adapted to steer with the rear wheels in the same direction as the front wheels or in the opposite direction, depending on data relating to the position, the configuration and the movement of objects (O1; O2; O3; 110 ; O4; O5; O6) in the environment configuration to avoid or reduce overlaying of the objects. A system according to any one of claims 10 to 15, comprising: - elements ( 200 ; 210 ; 230 ; 240 ; 250 ; 260 ; 500 ), which are adapted to continuously scan the environmental configuration in front of the vehicle and along the two longitudinal sides of the vehicle. A system according to any one of claims 10 to 16, comprising: - elements ( 200 ; 210 ; 230 ; 240 ; 250 ; 260 ; 500 ), which are suitable for the environmental configuration behind the vehicle ( 100 ) continuously scan. A system according to any one of claims 10 to 17, comprising: - in the event that it is determined that mobile objects are in the environment configuration, extrapolate ( 200 ; 210 ; 500 ) of movement of these objects to determine the risk of unwanted overlay with objects in the particular environment configuration. Vehicle ( 100 ) containing a system according to any one of claims 10 to 18. Computer program (P) for steering a vehicle ( 100 ) with front and rear wheel steering, the computer program (P) comprising program code for causing an electronic control unit ( 200 ; 500 ) or another computer ( 210 ; 500 ) connected to the electronic control unit ( 200 ; 500 ) is connected, the steps according to one of claims 1 to 9 executes. A computer program product comprising program code stored on a computer-readable medium for carrying out the method steps according to one of claims 1 to 9, when the program code is stored on an electronic control unit ( 200 ; 500 ) or another computer ( 210 ; 500 ) connected to the electronic control unit ( 200 ; 500 ) is connected.

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