Abstract: An apparatus (104) and a method (800) for controlling steering of rear wheels (103) of a vehicle (100) are disclosed. The apparatus (104) comprises a control means (105) configured to receive a first signal indicative of a front wheel steering angle and a second signal indicative of a selected mode selected from at least a first mode and a second mode. The control means is also configured to determine a proposed rear wheel steering angle in dependence on the first signal and the second signal and to provide an output signal configured to cause steering of rear wheels (103) at the proposed rear wheel steering angle.

Abstract: An apparatus (104) and a method (800) for controlling steering of rear wheels (103) of a vehicle (100) are disclosed. The apparatus (104) comprises a control means (105) configured to receive a first signal indicative of a front wheel steering angle and a second signal indicative of a selected mode selected from at least a first mode and a second mode. The control means is also configured to determine a proposed rear wheel steering angle in dependence on the first signal and the second signal and to provide an output signal configured to cause steering of rear wheels (103) at the proposed rear wheel steering angle.

Abstract: A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring ?road, the angle of the surface in relation to a horizontal plane; measuring the values of h1, h2 and ?road; using the values of h1 and h2 to calculate ?rel, the angle of the vehicle body relative to the surface; and calculating an estimate of ?glob, the angle between the first axis and the horizontal plane, from ?road and ?rel.

Abstract: A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring ?road, the angle of the surface in relation to a horizontal plane; measuring the values of h1, h2 and ?road; using the values of h1 and h2 to calculate ?rel, the angle of the vehicle body relative to the surface; and calculating an estimate of ?glob, the angle between the first axis and the horizontal plane, from ?road and ?rel.