DE102015005464B4 - System and method for steering a vehicle - Google Patents

Abstract

A method of steering a vehicle (100) with front and rear wheel steering, comprising the following steps: - 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, which requires steering based on the front wheels, as to whether there is a risk that the vehicle (100) undesirably deals with objects (O1; O2; O3; 110; 04; 05; 06) in the specific environmental configuration overlaid; - in the event that it is determined that there is a risk, free use (s403; s450) of steering by means of rear wheels to overlap with objects (O1; O2; O3; 110; O4; O5; O6) in to avoid the particular environmental configuration to a sufficient extent and with a selected scope; characterized in that the selected scope is automatically determined depending on the object identifier of the objects in the particular environmental configuration.

Description

Field of the Invention

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 and a computer program product which comprises program code for a computer in order to implement a method according to the invention. The invention also relates to a system for steering a vehicle with front u. Rear wheel steering and a vehicle equipped with such a system.

background

City buses with two vehicle bodies, a front vehicle body and a rear vehicle body, with a suitable joint, which is arranged between them, and three wheel axles can be steered by a driver via a first, front pair of wheels, for example using 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 arranged on a wheel axle on the front wheel body, i.e. the second, rear pair of wheels is neither automatically nor manually steerable. Furthermore, in one embodiment, these buses have a third, rear pair of wheels, which is automatically steerable on a wheel axle on the second, rear vehicle body.

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 can be steered automatically to the extent that an angular deflection thereof cannot 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, e.g. After cornering, an automatically controlled angular deflection of the third, rear pair of wheels also returns to a central, original position. This can lead to a number of different disadvantages.

In connection with curves, e.g. T-intersections, where the vehicle essentially changes its direction of travel by 90, the steering of the third, rear pair of wheels can result in the curve not being adhered to sufficiently. This can result in the second, rear vehicle body “driving too short” and the rear body of the vehicle driving over a curb or undesirably overlapping with another obstacle.

In the event that the rear vehicle body swings too far in a curve that is driven by the steering of the third rear wheel pair, this can lead to discomfort for the passengers who are in the rear part of the rear vehicle body. This can be caused by an inclination that occurs when the rear vehicle body is automatically steered to center on the front vehicle body, i.e. 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 vehicle body is deflected too much during a curve by steering the third, rear wheel pair, objects that are on the opposite side of the curve can be hit and damaged. This is particularly serious if the object is a living being, such as a cyclist.

The FR 2 916 721 A1 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.

Out DE 10 2008 012 685 A1 and DE 10 2012 203 228 A1 Motor vehicles are known in each case which have rear wheels which can be steered independently of the front wheels via an actuating device.

Out DE 10 2008 040 241 A1 a vehicle assistance system is known which is activated when an obstacle is recognized and supports the driver in the evasive maneuver by intervening in the steering of the vehicle.

Object of the invention

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

An object of the present invention is to provide a new and advantageous method and a 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 surroundings 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 while minimizing a risk of collision with the vehicle and the objects surrounding the vehicle.

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

Summary of the invention

The object is achieved by a method for steering a vehicle with the features of claim 1, by a system for steering a vehicle with the features of claim 10, by a vehicle with the features of claim 19, by a computer program with the features of Claim 20 and a computer program product with the features of claim 21. Advantageous further developments result from the dependent claims.

• - 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 der bestimmten Umgebungskonfiguration in ausreichendem Maße und mit einem ausgewählten Spielraum zu vermeiden.

According to one aspect of the present invention, a method for steering a vehicle with front and rear wheel steering is provided. The process includes the following steps:

• - continuously determining an environmental configuration of the vehicle, including the presence of objects;
• - in connection with a change in the direction of travel, which requires steering based on the front wheels, determining whether there is a risk that the vehicle may undesirably overlap with objects in the particular environmental configuration;
• - in the event that it is determined that there is a risk, free use of the steering on the basis of the rear wheels in order to avoid an overlapping with objects in the specific environmental configuration to a sufficient extent and with a selected scope.

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

The margin can be a predetermined safety distance. The margin can be a safety distance that is stored in advance in a control unit. The scope is selected depending on the object characteristics of the objects in the particular environmental configuration. The scope can be selected depending on the position, configuration and movements of objects in the particular environmental configuration. The scope can be determined automatically using suitable elements. According to one embodiment, the scope can be determined in real time using suitable elements.

According to an example, the safety distance 10th , 20th or 50 cm, in the event that the determined object is a curb. This means that the vehicle, and in particular the rear part of the vehicle, must not be closer than the safety distance from the determined physical object.

According to an example, the safety distance 1 , 2nd or 3rd m in the event that the determined object is a pedestrian.

An environmental configuration can thus advantageously be determined for the environment of the vehicle in all directions from the vehicle. This allows an essentially complete and comprehensive environment configuration that includes objects to be determined.

By freely using the steering based on the rear wheels, the maximum permitted steering angle of the rear wheels is not restricted 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 can include the following step:

• - Determining the environmental configuration, which includes the presence of objects, on the basis of 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 of completely different types. The four sensor configurations can consist, for example, of a video camera, an IR camera, an ultrasound unit or a radar unit.

Thus, a versatile method is provided to determine the presence of objects with high accuracy from various independent sources. According to one embodiment, the data from the various sensor configurations can be combined, which further increases the 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 can include the following step:

• - Determine whether there is a risk 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 environmental configuration.

A possible risk of an undesired overlay of the vehicle and the object can thus 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 Umgebungskonfig uration.

The method can 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, compared to data relating to the position, configuration and movement of at least one object in the specific environmental configuration.

Precise steering of the rear wheels of the vehicle is thus achieved in order to avoid undesired 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 can include the following step:

• - Selecting the distance and taking passenger comfort into account by minimizing lurching when steering using the rear wheels. This avoids a greater lateral inclination, which inclination can cause deteriorated comfort or can be a direct danger for the passengers on board the vehicle. This achieves a safe method of steering a vehicle with front and rear wheel steering, such as an articulated bus. An unnecessarily strong swerving of a rear section, such as an overhang, of the vehicle can thereby be avoided.

According to the inventive method, automatically steered rear wheels do not have to follow the path of a pair of front wheels in connection with changes in the direction of travel of the vehicle.

The method according to the invention can be applied to a towing vehicle with a trailer which has 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 can 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 regarding the position, configuration and movement of objects in the surrounding configuration, in order 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 can 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 regarding the position, configuration and movement of objects in the surrounding configuration, in order to overlap with the objects to avoid or reduce, and depending on data regarding the position, configuration and movement of the vehicle.

The position of the vehicle can be determined, for example, using a GPS unit. The position of the object can be determined using an electronic map that is stored in a control unit of the vehicle. The configuration of the vehicle and at least one specific object can be predetermined based on data that are stored in a memory of a control unit of the vehicle. The configuration of the vehicle and the objects can include data relating to shape, extent, width and height. The configuration of the vehicle and objects can include shape profile data.

This enables versatile, flexible and dynamic steering using the rear wheels of the vehicle. This allows an effective adaptation to a certain optimal path for the rear section of the vehicle to be achieved. This enables safe driving in conjunction with a so-called S-curve.

• - 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 can include the following step:

• - continuous scanning of the surrounding configuration in front of the vehicle and along the two long sides of the vehicle. This allows an accurate and essentially complete environmental configuration to be determined. This can provide a reliable basis for risk determination.

The method may include the step of continuously scanning the environmental configuration behind the vehicle. This can provide a versatile process. By arranging the sensor configurations to determine the environmental configuration not only on the sides and forwards, the method according to the invention can also be used in connection with changes in the direction of travel of the vehicle when the vehicle is reset.

• - 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 can include the following step:

• in the event that it is determined that mobile objects are in the environmental configuration, extrapolate the movements of these objects in order to determine the risk of undesired overlaying with objects in the particular environmental configuration. As a result, driving of the vehicle is achieved with greater certainty. This reduces the risk of undesired interference, such as a collision, with surrounding moving objects, vehicles, moped riders, cyclists, pedestrians or animals, etc.

An automated method for steering a vehicle with front and rear wheel steering is thereby achieved.

• - 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 with front and rear wheel steering, the system comprising:

• Elements that are suitable for continuously determining an environmental configuration of the vehicle, including the presence of objects;
• Elements which are suitable for determining when there is a change in the direction of travel which requires steering by means of the front wheels whether there is a risk that the vehicle may undesirably overlap with objects in the particular environmental configuration;
• - Elements that are suitable, in the event that it is determined that there is a risk, that the steering by means of the rear wheels can be freely used in order to avoid an overlay with objects in the specific environmental configuration to a sufficient extent 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 can include:

• - At least one of a first sensor configuration, a second sensor configuration, a third sensor configuration and a fourth sensor configuration, the sensor configurations being suitable for determining the environmental configuration which comprises the presence of objects.

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

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

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

The fourth sensor configuration can 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 can include:

• Elements that are suitable for determining whether the risk is present, based on data relating to the position, configuration and movement of the vehicle and relating to the position, configuration and movement of at least one object in the specific environmental 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 can include:

• Elements that are 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 and data relating to the position, configuration and movement of at least one object in the particular environment configuration.

The system may include elements that are suitable for selecting the margin that takes passenger comfort into account by minimizing lurching while steering by means of the rear wheels.

The system may include elements adapted to steer with the rear 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, configuration and movement of objects in the environment configuration in order to avoid or reduce an overlay with the objects.

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

The system may include elements suitable for continuously sensing the environmental configuration behind the vehicle.

The system may include elements that, if it is determined that there are mobile objects in the environment configuration, extrapolate the movements of these objects to determine the risk of undesired interference with objects in the particular environment configuration.

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

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

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

According to one aspect of the present invention, there is provided a computer program for steering a vehicle with front and rear wheel steering, the computer program comprising program code stored on a computer readable medium to cause an electronic control unit or other computer connected to the electronic control unit is connected, the steps according to one of claims 1 to 9 carries out 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 to carry out the method steps according to one of claims 1 to 9 when the program code is on the electronic control unit or another computer which is connected to the electronic control unit is connected, is running.

According to one aspect of the present invention, there is provided a computer program product comprising program code that is non-volatilely stored on a computer readable medium in order to carry out the method steps according to one of claims 1 to 9 when the program code is on an electronic control unit or another computer which is connected to the electronic control unit.

Additional objects and advantages of the present invention will become apparent to those skilled in the art from the following details and from the practice of the invention. Although the invention is 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 assimilations in various areas that are within the scope of the invention.

Figure list

• 1a schematisch ein Fahrzeug gemäß einer Ausführungsform der vorliegenden Erfindung;
• 1b schematisch ein Fahrzeug gemäß einer Ausführungsform der vorliegenden Erfindung;
• 2 schematisch ein System in einem Fahrzeug gemäß einer Ausführungsform der vorliegenden Erfindung;
• 3a bis c schematisch diverse Verkehrssituationen für ein Fahrzeug;
• 4a schematisch ein Blockdiagramm eines Verfahrens gemäß einer Ausführungsform der vorliegenden Erfindung;
• 4b schematisch und ausführlicher ein Blockdiagramm eines Verfahrens gemäß einer Ausführungsform der vorliegenden Erfindung;
• 5 schematisch einen Computer gemäß einer Ausführungsform der vorliegenden Erfindung.

For a better understanding of the present invention and its additional objects and advantages, reference is now made to the following detailed description, to be read in conjunction with the accompanying drawings, in which: the same reference numerals denote the same parts in the various 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;
• 2nd schematically shows 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 shows 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

The term "connection" here refers to a communication connection, which is a physical line, an optoelectronic communication line, or a non-physical line, such as a wireless connection, e.g. a radio link or a radio frequency link.

The term “environmental configuration” here refers 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 can consist of roads, paths, curbs, buildings, etc. The objects can be living beings or inanimate objects, e.g. consist of people, animals, posts and traffic signs. The environmental configuration can be limited to a radius of 5, 10 or 50 m, measured from the vehicle. The environmental configuration can consist of a number of segments which surround the vehicle and which can be covered by means of a suitable sensor configuration. A sensor configuration can be arranged such that it covers a segment of the surroundings of the vehicle with suitable angles and distances.

The term “overlay” refers to the fact that the vehicle somehow comes into physical contact with any object. “Overlaying” can mean that the vehicle collides with the objects, hits them, runs over them, scratches or hits them.

The term “change in the direction of travel” here refers to changes in the direction of travel of the vehicle. Changes in direction can include turning at an intersection, changing lanes on a lane or turning into a bus stop and driving out. The change in the direction of travel can be initiated and carried out by a driver of the vehicle, e.g. using a conventional steering wheel to steer the front wheels of the vehicle.

The term “object” here refers to an object that can be movable or immovable. The object can be a loose object, such as a security cone. The object can be a fixed object or a structure. The object can be a living being, such as a human or an animal. The term “object” here can refer to any type of obstacle with which contact by the vehicle is to be avoided, such as a traffic island or curb, or any other object in the vicinity of the vehicle.

A side view of a vehicle 100 is referring to 1a shown. The exemplary vehicle 100 is a bus with a pair of front wheels that can be steered on a front wheel axle X1 is arranged. A driver of the bus can thus use a suitable control element, such as a steering wheel, in a direction of travel of the bus 100 to steer.

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

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

The vehicle 100 here consists 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 joint section JP. The vehicle 100 here has a front, first pair of wheels on a first axle X2 of the first vehicle body 100a on. The vehicle 100 has a rear, second pair of wheels on a second axle X2 of the first vehicle body 100a on. The vehicle 100 has a rear, third pair of wheels on a third axle X3 of the second vehicle body 100b on.

The front, first pair of wheels is arranged in a steerable manner in a conventional manner, wherein a driver can influence the steering angle, for example, using a steering wheel. The rear, second pair of wheels can be arranged in a steerable manner according to the inventive method, but it can also be rigid on the second axle X2 be arranged. The rear, third pair of wheels is on the third axle X3 arranged steerable according to the inventive method.

It is therefore understood that a pair of wheels can be steered by at least one rear wheel axle according to the method according to the invention. In other words, at least one of the pairs of wheels on the second axle X2 and the third axis X4 be arranged 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 in which the vehicle is traveling straight ahead 100 on.

The vehicle according to the present invention can consist of any suitable vehicle with front and rear wheel steering. The vehicle can be a road vehicle. The vehicle can be an off-road vehicle. In addition to a bus such as a city bus, a minibus or a long-distance bus, the vehicle according to the present invention can also consist of a truck, a car or another 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 with a rear steerable wheel pair is attached to the towing vehicle. The pair of wheels of the trailer may thus be steered according to the method according to the invention. The term “where appropriate” refers to situations in which there is a risk of overlapping between the vehicle and a determined object (e.g. an obstacle).

2nd schematically forms a system 299 for steering the vehicle 100 from. The system 299 comprises a first control unit 200 which is arranged so that it is a vehicle 100 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 to provide data continuously or discontinuously for the first control unit 200 are important. Examples of such data may include vehicle speed, vehicle acceleration, direction of travel, a change in direction of travel, and a measurement of the vehicle's applied braking force. This data can be used to activate or deactivate automatic steering of at least one rear wheel pair according to the method according to the invention.

For example, the first control unit 200 adapt the steering of the at least one rear wheel pair in the event that the vehicle is driven at a speed or with an acceleration that exceeds a respective predetermined threshold value. 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 with an acceleration that exceeds a respective predetermined threshold value.

For example, the first control unit 200 adapt 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 value. 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 value.

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 at a speed or with an acceleration that falls below a respective predetermined threshold value.

For example, the first control unit 200 allow the initiation of 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 which falls below a predetermined threshold value.

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 measurement of the braking force exerted by the vehicle falls below a predetermined threshold value.

The first control unit 200 is for communication with a first transmitter configuration 230 via a connection L230 arranged. The first sensor configuration 230 is suitable to the environmental configuration of the vehicle 100 to be determined continuously or discontinuously. The first sensor configuration 230 is arranged to provide data related to the particular environmental configuration connection L230 continuously or discontinuously to the first control unit 200 to send. The data relating to the specific environmental configuration can include data relating to any objects that are 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 determine the position, configuration and movement of one or more objects in the environmental configuration. According to an alternative, the first control unit is 200 arranged to continuously receive a video stream from the first sensor configuration 230 receives and uses a suitable image processing program to determine the position, configuration and movement of one or more objects in the surrounding configuration.

The first control unit 200 is for communication with a second transmitter configuration 240 via a connection L240 arranged. The second sensor configuration 240 is suitable to the environmental configuration of the vehicle 100 to be determined continuously or discontinuously. The second sensor configuration 240 is arranged to provide data regarding the particular environmental configuration over the connection L240 continuously or discontinuously to the first control unit 200 to send. The data relating to the specific environmental configuration can include data relating to any objects that are in the environment of the vehicle 100 are located. The second sensor configuration 240 includes an IR camera. The second sensor configuration 240 can be equipped with a suitable image 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 is 200 arranged to continuously receive a video stream from the second sensor configuration 240 receives and uses a suitable image processing program to determine the position, configuration and movement of one or more objects in the surrounding configuration. Thermal signatures of people and / or animals and / or other objects, such as vehicles with internal combustion engines, 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 via a connection L250 arranged. The third sensor configuration 250 is suitable to the environmental configuration of the vehicle 100 to be determined continuously or discontinuously. The third sensor configuration 250 is arranged to provide data regarding the particular environmental configuration over the connection L250 continuously or discontinuously to the first control unit 200 to send. The data relating to the specific environmental configuration can include data relating to any objects that are in the environment of the vehicle 100 are located. The third sensor configuration 250 includes an ultrasound unit, which can be any objects in the vicinity of the vehicle 100 can determine based on reflected sound. The third sensor configuration 250 can 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 is 200 arranged to continuously receive a video stream from the third sensor configuration 250 receives and uses a suitable acoustic echo processing program to determine the position, configuration and movement of one or more objects in the environmental configuration. The third sensor configuration 250 works satisfactorily under reduced visibility and in the dark.

The first control unit 200 is for communication with a fourth transmitter configuration 260 via a connection L260 arranged. The fourth sensor configuration 260 is suitable to the environmental configuration of the vehicle 100 to be determined continuously or discontinuously. The fourth sensor configuration 260 is arranged to regarding the particular environmental configuration over the connection L260 continuously or discontinuously data to the first control unit 200 to send. The data relating to the specific environmental configuration can include data relating to any objects that are 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 is 200 arranged such that they continuously receive suitable data from the fourth sensor configuration 260 receives and uses a suitable computer program to determine the position, configuration and movement of one or more objects in the environmental configuration.

The system 299 may include an appropriate number of different sensor configurations to determine the position, configuration, and movement of objects in the environment. In one example, laser light can be used to determine the presence, position, shape, configuration, and movement of any objects in the vicinity of the vehicle 100 to determine.

The system can position, configure and move 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 can include a suitable arrangement of different sensor configurations to determine object identifiers of any objects in the vicinity of the vehicle. The object identifiers can include the existence, position, shape, configuration and movement 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, the speed and the acceleration of the objects. A suitable sensor configuration can therefore predict a future position of a moving object. It should be noted that the object identifier of one of the exemplary sensor configurations, other suitable sensor configurations in the vehicle or in the first control unit 200 can be determined based on data from at least one sensor configuration.

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

According to one embodiment, the first control unit is 200 arranged so that they over 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, the rear wheel pairs can be controlled to different steering angles in the event that the steering is carried out by more than one rear wheel pair.

The second control unit 210 is for communication with the first control unit 200 via a connection L210 arranged. The second control unit 210 can be detachable to the first control unit 200 be connected. The second control unit 210 can be a control unit located outside the vehicle 100 located. The second control unit 210 can be arranged such that it carries out the method steps according to the invention. The second control unit 210 can be used to program code on the first control unit 200 to load, in particular program code for executing the method according to the invention. The second control unit 210 can alternatively to communication with the first control unit 200 be arranged in the vehicle via an internal network. The second control unit 210 can be arranged such that it has essentially the same functions as the first control unit 200 executes.

3a schematically forms the vehicle 100 in a first traffic situation. Here is shown that 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 can in the vehicle's environmental configuration 100 through suitable sensor elements (such as the sensor configuration 230 , 240 , 250 , 260 ) be determined. The first object O1 here is an edge of a curb. A second object O2 can in the vehicle's environmental configuration 100 be determined using suitable sensor elements. The second object here is a cycling cyclist. A third object O3 can in the vehicle's environmental configuration 100 be determined using suitable sensor elements. The third object O3 here is a moving car.

According to this example, it is determined that there is a risk that the vehicle overlaps the first, second, and third objects in the particular environmental configuration. The steering is here based on the rear wheels on at least one of the second and third rear pairs of rear wheels (each with axles X2 and X3 ) in order to avoid an overlay with all of the first, second and third objects in the specific environmental configuration to a sufficient extent and with a selected scope.

3b schematically forms the vehicle 100 in a second traffic situation. The vehicle 100 performs a lane change on a motorway and drives 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 moving object 110 can in the vehicle's environmental configuration 100 be determined using suitable sensor elements. The object 110 here consists of a car running at a substantially constant speed in essentially the same direction as the vehicle 100 moves.

According to this example, it is determined that there is a risk that the vehicle 100 undesirable with the moving object 100 in the certain environmental configuration overlaid. The steering is here based on the rear wheels on a third rear pair of wheels (axle X3 ) executed to overlap with the object 110 in the particular environmental configuration to a sufficient extent and with a selected scope.

3c schematically forms the vehicle 100 in a third traffic situation. Here's a vehicle 100 stopped at a bus stop H. In this context, three objects were identified in the environment configuration. A fourth object O4 in the form of a corner of an edge strip, which has already been safely passed, is determined here according to the method according to the invention. A fifth object O5 in the form of a corner of an edge strip, which can be safely passed, 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.

According to this example, it is determined that there is a risk that the vehicle 100 undesirable with the moving car O6 overlaid in the particular environment configuration. Furthermore, it can be determined that there is an additional risk that the vehicle 100 undesirable with the fifth object 0O5 could overlay. The steering is here based on the rear wheels on a third rear pair of wheels (axle X3 ) executed to overlap with the object O5 and the object O6 in the particular environmental configuration to a sufficient extent and with a selected scope.

4a schematically forms a flow chart of a method for steering a vehicle 100 with front and rear wheel steering.

• - 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:

• - Continuous determination of the environmental configuration of the vehicle 100 , which includes the presence of objects. This can be done, for example, by at least one of the first sensor configurations 230 , the second sensor configuration 240 , the third sensor configuration 250 and the fourth sensor configuration 260 be carried out.

• - 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 . The step s402 includes the following step:

• - Determine during a change in the direction of travel, which requires 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 particular 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 step s403 . The step s403 includes the following step:

• - In the event that there is a risk, free use of the steering using the rear wheels in order to avoid an overlay with objects in the specific environmental configuration to a sufficient extent and with a selected scope. This can be done using the first control unit 200 and the steering device 270 be carried out.

The process is after the process step s403 completed.

4b schematically forms a flow chart of a method for steering a vehicle 100 with front and rear wheel steering. The method comprises a first method step p410 . The step p410 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 configurations 230 , the second sensor configuration 240 , the third sensor configuration 250 and the fourth sensor configuration 260 respectively. The step p410 may also include pooling data from at least two of the four different sensor configurations, or from another suitable sensor configuration that can determine an environmental configuration that includes objects. Alternatively, at least parts of the environmental configuration can be based on the first control unit 200 based on data determined from at least one of the four sensor configurations.

The step p410 may include the step of continuously scanning the environmental configuration in front of the vehicle and along the two long sides of the vehicle and / or continuously scanning the environmental configuration behind the vehicle (primarily if the vehicle 100 resets).

The step p410 in the event that it is determined that mobile objects are in the environment configuration, may include the step of extrapolating the movements of these objects to determine the risk of undesired interference with objects in the particular environment configuration (see step p430 ).

A subsequent process step p420 after the process step p410 executed.

The procedural step p420 includes the step of determining a change in the direction of travel of the vehicle 100 . This can be done using suitable means, for example using a transmitter in the transmitter configuration 220 , respectively. Alternatively, the change in the direction of travel can be based on an on-board GPS unit and / or an electronic map in the first control unit 200 saved, can be determined. According to an example, it is determined that there is a change in the direction of travel if there is a given angular deflection of a wheel pair on the front wheel axle for at least a predetermined period of time, or that an angular deflection of a wheel pair on the first wheel axle exceeds a predetermined value. A subsequent process step p430 after the process step p420 executed.

The procedural step p430 includes the step of determining, in conjunction with a change in direction of travel that requires steering based on the front wheels of the vehicle, whether there is a risk that the vehicle undesirably overlaps with objects in the particular environmental configuration. This can be done using the first control unit 200 can be determined based on the object identifiers of objects in the environment configuration. The step p430 in the event that it is determined that moving objects are present in the environmental configuration, may include the step of extrapolating the movement of those objects to determine the risk of undesired interference with objects in the particular environmental configuration.

The step p430 may include the step of determining whether the risk is present 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 process step p440 after the process step p430 executed.

The procedural step p440 includes the step of determining the compensating steering of at least one rear wheel pair of the vehicle 100 . These pairs of wheels can on the second axis X2 and / or the third axis X3 be arranged. This can be done by the first control unit 200 be carried out. Like the pair of wheels on the second axle X2 and / or the third axis X3 is to be steered in order to both avoid overlapping with the determined objects in the environmental configuration and to minimize the deterioration in passenger comfort of the passengers in the vehicle (in the event that the vehicle is a bus, for example). The veering of a rear overhang of the vehicle 100 can be minimized. A suitable / optimal steering of the at least one rear wheel pair can in step p440 calculated / estimated / modeled / foreseen / assessed.

The step p430 may include the step of selecting a margin that takes passenger comfort into account so that lurching while steering is minimized using the rear wheels. The margin can be used as the basis for determining the compensating steering according to the method step below p440 serve.

A subsequent process step p450 after the process step p440 executed.

The procedural step p450 includes the step of controlling a respective pivot angle of the second and / or third steerable rear wheel pair according to the suitable and / or optimal steering, as in the previous method step p430 calculated / estimated / modeled / foreseen / assessed. If steering with the front wheels, the procedural step can p450 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 data regarding the position, configuration and movement of objects in the surrounding configuration, to avoid interference with the objects or to reduce.

The procedural step p450 can do the step of steering the rear wheels of the vehicle 100 to avoid interference based on data regarding the position, configuration and movement of the vehicle 100 and information regarding the position, configuration, and movement of at least one object in the particular environmental configuration.

The procedural step p450 In the event that such a risk is determined, it may include the step of freely using the steering based on the rear wheels in order to sufficiently avoid overlapping with objects in the particular environmental configuration and with a selected margin.

A subsequent process step p460 after the process step p450 executed.

The procedural step p460 optionally includes the step of deactivating the compensating steering according to step p450 . It may be appropriate to disable the automatic / compensatory steering of the at least one rear wheel pair when the whole vehicle 100 a Longitudinal expansion, for example when the vehicle 100 driving straight on a lane or when the first vehicle body 100a and the second vehicle body 100b have a common longitudinal axis in the direction of vehicle travel. The process is after the process step p460 completed.

There becomes a diagram of an embodiment of an apparatus 500 regarding 5 shown. In one embodiment, the control units 200 and 210 that related to 2nd 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 function of the device 500 is saved. The device 500 further includes a bus controller, a serial communication port, I / O elements, an A / D converter, a unit for entering and transmitting the time and date, an event counter and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory 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 to determine the environmental configuration of the vehicle, including the presence of objects, continuously or discontinuously. The computer program P may include routines, changing the direction of travel of the vehicle 100 to be determined continuously or discontinuously. The computer program P may include routines to steer based on the front wheels of the vehicle during a change in direction of travel 100 conditional to determine whether there is a risk that the vehicle 100 undesirably overlaid with objects in the particular environment configuration. The computer program P In the event that such a risk is determined, it may include routines to freely use the rear wheel steering to avoid overlap with objects in the particular environmental configuration sufficiently and with a selected margin.

The computer program P may include routines to determine the environmental configuration, including the presence of objects, based on 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 to determine if the risk exists based on data regarding 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.

The computer program P may include routines around the rear wheels of the vehicle 100 to avoid overlap based on data regarding the position, configuration and movement of the vehicle 100 and data related to the position, configuration, and movement of at least one object in the particular environmental configuration.

The computer program P may include routines to select the margin that takes passenger comfort into account so that lurching while steering against the rear wheels is minimized.

The computer program P may include routines to steer the front wheels 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 surrounding configuration, to overlap to avoid or reduce with the objects.

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

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

The computer program P may include routines to, if it is determined that there are moving objects in the environment configuration, extrapolating the motion of those objects to determine the risk of undesired interference with objects in the particular environment configuration.

The program P can be in an executable form or in a compressed form in a memory 560 and / or in a read / write memory 550 be saved.

If it is specified that the data processing unit 510 performs a certain function, it is understood that the data processing unit 510 a certain part of the program that is in memory 560 is stored, or a specific part of the program, which is in the read / write memory 550 is saved, executes.

The data processing device 510 can with a data port 599 via a data bus 515 communicate. The non-volatile memory 520 is for 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, the connections L210 , L220 , L230 , L240 , L250 , L260 , L270 and L280 to the data connection 599 be connected (see 2nd ).

If there is data on the data port 599 received, they are temporarily stored in the second memory section 540 saved. Once the received input data has been saved, the data processing unit is 510 arranged to implement the execution of code as previously described.

According to one embodiment, include signals on the data port 599 are received, data relating to object identifiers. According to one embodiment, include signals on the data port 599 data are received, for example relating to the position, the shape, the configuration, the type (object or living being), the trajectory, the changes in speed and the changes in direction of one or more determined objects in the surrounding configuration of the vehicle 100 .

According to one embodiment, include signals on the data port 599 received, data regarding the environmental configuration of the vehicle 100 .

Parts of the methods described here can be carried out by the device 500 with the help of the data processing unit 510 that executes the program that is in memory 560 or the read / write memory 550 saved is executed. 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 described forms. Numerous modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to explain the principles of the invention and their practical applications as well as possible and thereby enable the person skilled in the art to understand the invention in its various embodiments and with the various modifications which are suitable for the particular use .

Claims (21)

A method of steering a vehicle (100) with front and rear wheel steering, comprising the following steps: - continuously determining (s401; s410) the environmental configuration of the vehicle (100), which includes the presence of objects; - Determining (s402; s430) in connection with a change in the direction of travel, which requires steering based on the front wheels, whether there is a risk that the vehicle (100) undesirably deals with objects (O1; O2; O3; 110; 04 ; 05; 06) overlaid in the specific environmental configuration; - in the event that it is determined that there is a risk, free use (s403; s450) of steering by means of rear wheels in order to overlap with objects (O1; O2; O3; 110; O4; O5; O6) in the determined Avoid environmental configuration to a sufficient extent and with a selected scope; characterized in that the selected scope is automatically determined depending on the object identifier of the objects in the particular environmental configuration. Procedure according to Claim 1 , characterized by : - determining (s410) the environmental configuration, which includes the presence of objects, on the basis of at least one of a first sensor configuration (230; 200; 210; 500), a second sensor configuration (240; 200; 210; 500), one third sensor configuration (250; 200; 210; 500) and a fourth sensor configuration (260; 200; 210; 500). Procedure according to Claim 1 or 2nd , characterized by : - determining (s430) whether the risk exists based on data regarding the position, configuration and movement of the vehicle (100), as well as data relating to the position, configuration and movement of at least one object (O1; 02; 03; 110; 04; 05; 06) in the specific environmental configuration. Method according to one of the preceding claims, characterized by : - Steering (s450) of 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 on data regarding the position, configuration and movement of at least one object (O1; 02; 03; 110; 04; 05; 06) in the particular environmental configuration. Method according to one of the preceding claims, characterized by : - Selecting (s430) the scope and taking into account the passenger comfort, so that a lurching when steering using the rear wheels is minimized. Method according to one of the preceding claims, characterized by : - 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 position, configuration and movement of objects (O1; 02; 03; 110; 04; 05; 06) in the environment configuration in order to avoid or reduce overlapping with the objects. Method according to one of the preceding claims, characterized by : - continuous scanning (s410) of the environmental configuration in front of the vehicle and along the two long sides of the vehicle. Method according to one of the preceding claims, characterized by : - continuous scanning (s410) of the environmental configuration behind the vehicle. Method according to one of the preceding claims, characterized by : - in the event that it is determined that mobile objects are in the environmental configuration, extrapolate (s430) the movements of these objects in order to increase the risk of undesired overlapping with objects in the particular environmental configuration determine. A 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), for which purpose the present heard of objects to determine continuously; - Elements (200; 210; 500) which are suitable for determining whether there is a risk that the vehicle (100) undesirably interferes with objects () during a change in the direction of travel which requires steering based on front wheels. O1; 02; 03; 110; 04; 05; 06) overlaid in the specific environmental configuration; - in the event that it is determined that such a risk exists, elements (200; 210; 500) that are suitable for freely using the steering on the basis of the rear wheels in order to avoid an overlay with objects (O1; 02; 03; 110; 04; 05; 06) in the particular environmental configuration to a sufficient extent and with a selected scope; characterized in that the selected scope can be determined automatically depending on the object identifier of the objects in the specific environmental configuration. System according to Claim 10 , characterized by : - 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 for determining the environmental configuration, which includes the presence of objects. System according to Claim 10 or 11 , characterized by : - elements (200; 210; 500) which are suitable for determining whether the risk exists, based on data relating to the position, configuration and movement of the vehicle (100), as well as data relating to the Position, configuration and movement of at least one object (O1; O2; O3; 110; O4; O5; O6) in the specific environmental configuration. System according to one of the Claims 10 to 12th , characterized by : - elements (200; 210; 500; 270) which are suitable for steering 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) and data relating to the position, the configuration and the movement of at least one object (O1; O2; O3; 110; O4; O5; O6) in the specific environmental configuration. System according to one of the preceding claims, characterized by : - elements (200; 210; 500) which are suitable for selecting the margin which takes account of the passenger comfort, so that lurching during steering on the basis of the rear wheels is minimized. System according to one of the Claims 10 to 14 , characterized by : - when steering with the front wheels, elements (200; 210; 500; 270) which are suitable for 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 (O1; O2; O3; 110; O4; O5; O6) in the surrounding configuration in order to avoid or reduce interference with the objects. System according to one of the Claims 10 to 15 , characterized by : - elements (200; 210; 230; 240; 250; 260; 500) that are suitable for continuously scanning the environmental configuration in front of the vehicle and along the two long sides of the vehicle. System according to one of the Claims 10 to 16 , characterized by : elements (200; 210; 230; 240; 250; 260; 500) which are suitable for continuously scanning the environmental configuration behind the vehicle (100). System according to one of the Claims 10 to 17th , characterized by : - in the event that it is determined that mobile objects are in the environmental configuration, extrapolate (200; 210; 500) the movement of these objects in order to determine the risk of undesired interference with objects in the particular environmental configuration. Vehicle (100) containing a system according to one of the Claims 10 to 18th . 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) to is connected to the electronic control unit (200; 500), the steps according to one of the Claims 1 to 9 executes. A computer program product comprising program code stored on a computer readable medium to perform the method steps according to one of the Claims 1 to 9 to be executed when the program code is executed on an electronic control unit (200; 500) or another computer (210; 500) which is connected to the electronic control unit (200; 500).

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