Abstract: The four-wheel steering system includes a front-wheel steering system that steers front wheels of a vehicle and a rear-wheel steering system that steers rear wheels of the vehicle in accordance with a steering angle that is a rotation angle of a steering wheel. The rear-wheel steering system includes a second ECU that, when the vehicle speed is equal to or lower than a vehicle speed threshold, performs antiphase control in which the rear wheels are steered in the opposite direction to that in which the front wheels are steered. When the vehicle speed is equal to or lower than the vehicle speed threshold, the second ECU performs in-phase control in which the rear wheels are steered in the same direction as that in which the front wheels are steered, in response to a specific trigger operation that is performed via the steering wheel.

Abstract: The described techniques relate to coordinating and managing faults of systems of a vehicle, such as an autonomous vehicle, to enable the vehicle to respond safely and appropriately to the faults. In examples, a centralized fault monitor system receives faults from different vehicle systems, maps the received faults to associated fault constraints, prioritizes different and shared parameters between the fault constraints, and communicates the constraint parameters to appropriate vehicle systems accordingly.