| 摘要 |
The invention relates to a method for steering a vehicle (100) comprising a front axle (FA) and a rear axle (RA2), wheels (FW1, FW2; RW21, RW22) being arranged for steering said vehicle (100) being provided for said front axle (FA) and said rear axle (RA2), comprising the step of: - controlling (s401) the steering action (α3) of said rear axle wheels (RW21, RW22) based upon a steering action (α1; α2) exerted by said front axle wheels (FW1, FW2); - determining (s410) if said vehicle (100) is set for reverse propulsion or forward propulsion; - determining (s420) a function (F1) according to which the steering action is performed by means of said rear axle wheels (RW21, RW22), said function (F1) providing a steering action (α3) different from the steering action provided by means of said rear axle wheels (RW21, RW22) when said vehicle (100) is set for forward propulsion; and - controlling (s430) the steering action (α3) exerted by means of said rear axle wheels (RW21, RW22) according to said determined function (F1) when the vehicle (100) is determined to be set for reverse propulsion. The invention relates also to a computer programme product comprising program code (P) for a computer (200; 210; 500) for implementing a method according to the invention. The invention relates also to a system for steering a vehicle (100) comprising a front axle and a rear axle and a vehicle (100) equipped with the system. |
