Rear-wheel steering system and procedure

Abstract

The invention relates to a rear-wheel steering system (1) with a rear-wheel steering system architecture (3) for a vehicle, with a plurality of sensors and actuators, wherein the rear-wheel steering system architecture has several subsystems which host different modules, wherein the modules access each other.

Description

[0001] The invention relates to a rear-wheel steering system with a rear-wheel steering system architecture for a vehicle with a plurality of sensors and actuators, a method and a vehicle.

[0002] It is known that vehicles can also swivel their rear wheels within a limited range of degrees.

[0003] This is commonly known as four-wheel steering (4WS) or rear-wheel steering and provides the vehicle with a shorter turning circle at low speeds, offering practical advantages when navigating tight roundabouts or parking lots. The vehicle dynamics parameters for the rear-wheel steering system are usually predefined and set at the factory.

[0004] Such vehicle dynamics parameters can include, for example, the steering angle velocity. In the simplest case, the rear steering angle is proportional to the steering angle input.

[0005] In particular, with such four-wheel steering (4WS) or rear-wheel steering systems, the feedback from a road surface to the vehicle must be simulated in order to provide feedback on the steering and driving behavior of the vehicle.

[0006] In particular, such four-wheel steering (4WS) or rear-wheel steering systems can be used in agricultural vehicles, including selected programs such as rear-wheel steering, all-wheel steering with symmetrical steering of front and rear wheels, especially crab steering, and all-wheel steering with opposite steering of front and rear wheels.

[0007] EP2210796B1 discloses a rear-wheel steering vehicle equipped with a vehicle stability control system that can be selectively switched on and off, comprising: a rear-wheel steering device including a rear-wheel actuator that steers a right and a left rear wheel, and a rear-wheel steering control unit that controls / regulates the rear-wheel steering actuator; wherein an abnormal state process unit that switches on the vehicle stability control system when an abnormal state of the rear-wheel steering device is detected, while the vehicle stability control system is switched off.

[0008] One object of the invention is to provide an improved rear-wheel steering system, as well as a method and a vehicle.

[0009] The problem is solved by a rear-wheel steering system with the features of claim 1, a method with the features of claim 8, and a vehicle with the features of claim 11. The dependent claims may include advantageous embodiments which can be suitably combined with one another.

[0010] The task is solved by a rear-wheel steering system with a rear-wheel steering system architecture for a vehicle, with a multitude of sensors and actuators, wherein the rear-wheel steering system architecture a first subsystem with an input data module for receiving and recognizing driver inputs, wherein the driver inputs include at least a steering wheel input as input from a steering system, and furthermore an activation in an activation input device as an activation request for the rear-wheel steering system, and furthermore a setting for adjusting parameters relating to the rear-wheel steering system, and wherein the input data module is configured to generate a steering signal, an activation request signal and a setting signal based on the received driver inputs, and furthermore a fourth subsystem with a motion module which is configured to detect a speed as a signal using suitable sensors, and a third subsystem with a management module designed to receive the speed and activation request signal, and designed to generate an activation signal based on the received signals to activate further modules in a predetermined sequence, as well as a fifth subsystem with a motion plan module for receiving the activation signal generated by the management module, the steering signal generated by the input data module, and the speed detected by the motion module, wherein the motion plan module is configured to generate future lateral dynamics as lateral movement data and a control signal that carries the lateral movement data as a signal, based on the signals, and a sixth subsystem with an actuator module for receiving the control signal and speed, which is designed to generate a setting signal for adjusting required actuators to implement the desired lateral movement data as motion control and to transmit the setting signal to a conversion module for executing the received setting signal as rear-wheel steering.

[0011] The necessary / required actuators can be known through the management module.

[0012] In order for the rear-wheel steering system to be activated, it receives steering wheel input from the driver, the input of the settings (which may also be pre-defined at the factory as a default setting), and the request to activate the rear-wheel steering system. The activated rear-wheel steering system steers the rear wheels. The rear-wheel steering system according to the invention generates the lateral dynamics, i.e., the physical movement of the vehicle in a lateral direction, executed by the rear axle or rear wheels, which is transmitted to the infrastructure, including the road surface. The lateral dynamics encompass the lateral physical information resulting from the vehicle's position at rest or while in motion. These physical values ​​include various lateral dynamic parameters of the vehicle, such as lateral acceleration, yaw rate, etc.

[0013] Modules can be software that performs the corresponding function, or hardware such as a chip, SoC, etc., with a corresponding software component. The modules can, for example, be located within the same computer system.

[0014] The individual subsystems can serve as hosts for the corresponding modules; the subsystems can be executed in ascending order. If no value generated by another subsystem exists, a temporary default value can be used.

[0015] In this process, one signal can be received and others requested. According to the invention, the individual subsystems access all other subsystems directly or indirectly and thus process the outputs or provide input signals (interlinking of the subsystems).

[0016] The management module manages the entire system behavior of the architecture, i.e., which behavior, for example, which functions / actuators / sensors are activated in the modules, by executing the modules in a specific sequence and under which conditions and circumstances this occurs.

[0017] According to the invention, an input data module is provided for receiving and recognizing driver inputs, wherein the driver inputs comprise at least one steering wheel input as input from a steering system, as well as an activation input device as an activation request for the rear-wheel steering system, and furthermore a setting for adjusting parameters relating to the rear-wheel steering system, and wherein the input data module is configured to generate a steering signal, an activation request signal, and an adjustment signal based on the received driver inputs. Parameters to be adjusted include, for example, the ratio of the steering angle to the steering angle deflection, or other parameters. The parameters can also be predefined by default settings and only be actively changed.

[0018] Similarly, speed can be measured, for example, using wheel sensors.

[0019] A management module is also provided, which is designed to receive the activation request signal and the vehicle's speed. Based on these signals, it generates an activation signal to activate the other modules for executing the rear-wheel steering. The management module displays the technical status of sensors, actuators, support systems, and computing units with regard to functional safety, reliability, availability, and safety support systems and computing units. Based on the received signals, the management module generates an activation signal that carries this information and is forwarded to the corresponding modules. This ensures that the sequence of signals and the individual modules to be addressed are known.Furthermore, a warning can be generated, for example, in the event of a detected malfunction, or information can be provided when the rear-wheel steering is activated. For instance, execution can be aborted in the case of a warning. Similarly, information can be generated as an alert when the rear-wheel steering system is active.

[0020] In the motion planning module, the future lateral dynamics are generated as lateral motion data based on the signals; that is, they are planned. Furthermore, the control signal, which carries the lateral motion data, is generated. The lateral dynamics contain the lateral physical information resulting from the vehicle's position, whether stationary or in motion. These physical values ​​include various lateral dynamic parameters of the vehicle, such as lateral acceleration, yaw rate, etc. The actuator module receives the control signal and the vehicle speed and generates a setting, i.e., which movements the actuators must execute to implement the lateral dynamics.

[0021] The rear-wheel steering system according to the invention ensures compliance with the guidelines for model-based systems engineering (MBSE). Furthermore, the rear-wheel steering system is guaranteed to be warning-free and error-free. In addition, it is simulable, which has the advantage of guaranteeing the flawless execution of the logical sequence and the absence of deadlocks (closed loops).

[0022] The rear-wheel steering system according to the invention is also characterized by a reduction in costs and risks, as well as a generalization of requirements, standardization of the system description, optimization of development effort, increased product quality, and a shorter time-to-market. It also facilitates the compatibility of products with one another through the standardization of interfaces. Such a rear-wheel steering system enables a shared understanding with customers to facilitate agreements and serves as a basis for SoTIF analysis (Safety of Intended Functionality).

[0023] The rear-wheel steering system according to the invention, through its inventive architecture, incorporates all necessary inputs and outputs required for maintaining braking. Furthermore, this rear-wheel steering system architecture is logic-controlled with the aid of key decision nodes and control flows.

[0024] According to the invention, a seventh subsystem is provided, which includes a conversion module for converting the received setting signal based on a received low-voltage voltage using the necessary actuators. This can, for example, be a control module / SOC (System on Chip) which is arranged with the respective actuators.

[0025] Further development includes a feedback module in the seventh subsystem, which generates feedback to the actuator module regarding the actual steering action performed by the actuators. The actuator module is configured to consider this feedback when recalculating the setting signal, thereby correcting the steering.

[0026] In a further development, the management module is designed to record the technical status of required sensors and / or actuators, at least with regard to functional safety and / or reliability and / or availability, and furthermore to generate a warning in the event of a detected malfunction with regard to the execution of the rear-wheel steering system in relation to the recorded status of the actuators and sensors.

[0027] In addition, the management module can generate an information signal when the rear-wheel steering system is activated, i.e., a signal indicating the activation of the rear-wheel steering system.

[0028] In further development, the first subsystem includes an output module designed to output the warning or information signal. This output module can be configured to output the warning or information signal haptically / visually or audibly. For example, the output module could be a display on which the warning or information signal is shown.

[0029] In a further embodiment, the second subsystem has an energy module which is designed at least to receive the activation signal, and is also designed to provide electrical energy for required sensors and actuators requested by the management module based on this signal, and to generate an electrical energy signal which carries the electrical energy for the requested sensors / actuators as a low-voltage voltage.

[0030] Furthermore, the problem is solved by a method for implementing a rear-wheel steering system architecture for a vehicle, wherein the rear-wheel steering system has a plurality of sensors and actuators, comprising the steps of: - Providing an input data module in a first subsystem for receiving and recognizing driver inputs, wherein the driver inputs comprise at least a steering wheel input as input by a steering system, and furthermore an activation into an activation input device as an activation request for the rear-wheel steering system, and furthermore a setting for adjusting parameters relating to the rear-wheel steering system, and wherein the input data module generates a steering signal, an activation request signal, and a setting signal based on the received driver inputs, - Providing a motion module in a fourth subsystem, which is designed to detect a velocity as a signal using suitable sensors, - Providing a management module in a third subsystem to receive the speed and activation request signal, and which is trained to generate an activation signal based on the received signals to activate further modules in a predefined sequence, - Providing a motion planning module in a fifth subsystem for receiving the activation signal generated by the management module, the steering signal generated by the input data module, and the velocity detected by the motion module, wherein the motion planning module generates future lateral dynamics as lateral motion data based on the signals and generates a control signal which carries the lateral motion data as a signal, - Providing an actuator module in a sixth subsystem to receive the control signal and speed, to generate a setting signal to adjust required actuators to convert the desired lateral movement data as motion control, and to transmit the setting signal to a conversion module to execute the received setting signal as steering.

[0031] The advantages or advantageous designs of the rear-wheel steering system and the rear-wheel steering system architecture can be transferred to the process.

[0032] In particular, the method is designed to be carried out on the rear-wheel steering system according to the invention. The rear-wheel steering system can be represented in a simulated form, i.e., sensors, actuators, and modules can be virtually configured for simulation.

[0033] In a further training, an implementation module is provided in a seventh subsystem to convert the received setting signal based on a received low-voltage voltage using the necessary actuators.

[0034] In a further embodiment, a feedback module is provided in the seventh subsystem to generate feedback, i.e., a response, about an actual steering action by the actuators to the actuator module, and the actuator module is designed to take the feedback into account when recalculating the setting signal.

[0035] Furthermore, the task is solved by a vehicle with a rear-wheel steering system and / or a method as described above. Additionally, a start module may be present, which is configured to receive physical driver inputs and forward these inputs to the input data module. The start module may, for example, be configured as a steering mechanism or steering wheel, or as a display for receiving activation or settings.

[0036] Further development includes a deactivation module for receiving a deactivation signal as a driver input. This module is designed to generate a deactivation output signal that deactivates the rear-wheel steering system. This allows the rear-wheel steering system to be deactivated.

[0037] Further features and advantages of the present invention will become apparent from the following description with reference to the accompanying figures. These show: Fig. 1: a rear-wheel steering system for a vehicle with a rear-wheel steering system architecture, Fig. 2: a vehicle with such a rear-wheel steering system, Fig. 3: Deactivation of the rear-wheel steering system.

[0038] Fig. Figure 1 shows a rear-wheel steering system for a vehicle with a rear-wheel steering system architecture for activating and performing rear-wheel steering.

[0039] The rear-wheel steering system 1 features a rear-wheel steering system architecture 3 with a multitude of sensors and actuators as well as modules that are hosted in subsystems.

[0040] Furthermore, the rear-wheel steering system includes a first subsystem C1 (driver interface), which features an input data module EM for receiving driver inputs. The input data module EM then generates digital signals based on these driver inputs.

[0041] The driver input includes information about the steering wheel input, i.e., the lateral movement of the vehicle. This may involve, for example, the presence of a steering wheel. Based on this steering wheel input, the input data module EM generates a steering signal. The steering wheel input information can also include, for example, the steering pressure applied to the wheel, the steering torque, the position of the driver's hands on the wheel, etc.

[0042] Furthermore, the driver inputs include an activation request (Scenario Activation Request) for the rear-wheel steering system 1, for example, by manually pressing a switch / button. Other activation methods are also possible, such as illuminating a corresponding switch. Based on this, the input data module EM is configured to generate a digital activation request signal, which requests activation of the rear-wheel steering system 1.

[0043] Furthermore, the driver inputs include settings (Scenario Settings Input) for the rear-wheel steering system 1, for example, via a display. These can relate to steering behavior, steering characteristics, or other driving dynamics steering properties. For instance, the steering angle can be adjusted when the steering wheel is turned. Factory default settings may be present, which are used if no changes are made. Modified settings can also be saved, which are then automatically applied when the rear-wheel steering system is activated.

[0044] Alternatively, a factory default setting can be used initially, or a preferred setting can be saved, thus avoiding the need to re-enter it when activating the rear-wheel steering system 1. The input data module EM then generates a setting signal (Scenario Settings Input) based on these settings.

[0045] Furthermore, a second subsystem, C2 (energy management system), is present. This subsystem includes an energy module, EngM, which provides electrical energy for the required sensors and actuators and generates an electrical energy signal that carries the electrical energy for the requested sensors / actuators as a low-voltage voltage. To generate the required voltage, the energy module receives an activation signal (Scenario Activation Command, subsystem C4) from a management module, VM, which carries the information about the sensors and actuators to be activated.

[0046] Likewise, the rear-wheel steering system architecture 3 has a third subsystem C4 (self-motion subsystem) with a motion module EgoM, which is designed to detect the vehicle speed using suitable sensors.

[0047] Wheel sensors or other sensors can be used, as well as a compass, IMU (Inertial Measurement Unit), etc. The motion module EgoM is interlocked with the power module EngM to provide the necessary low-voltage supply. This interlocks the fourth subsystem C4 with the third subsystem C3. The detected speed is then provided as a signal to the other modules.

[0048] A management module VM is also provided in a third subsystem C3 (management subsystem), which is designed to receive the activation request signal (Scenario Activation Request) and a speed of the vehicle, and which is designed to generate an activation signal (Scenario Activation Command) based on the received signals to activate the other modules for executing the rear-wheel steering system 1.

[0049] Thus, the management module VM is interlinked with the first subsystem C1 and the fourth subsystem C4 and is configured to receive the activation request signal (subsystem C1) and the detected vehicle speed (subsystem C3), and furthermore to generate the activation signal based on this information. The management module VM manages the entire system behavior of the architecture, i.e., which behaviors occur in which sequence and under which conditions and circumstances. The management module VM is configured to detect the technical status of required sensors and / or actuators, at least with regard to functional safety and / or reliability and / or availability, and furthermore to generate a warning in the event of a detected malfunction regarding the execution of the rear-wheel steering system 1 in relation to the detected status of the actuators and sensors.

[0050] Based on the received signals, the VM management module generates an activation signal (Scenario Activation Command) containing this information, which is then forwarded to the relevant modules. This ensures that the sequence of signals and the individual modules to be addressed are known. Furthermore, a warning can be generated, for example, in the event of a detected malfunction, or information can be generated if the rear-wheel steering system 1 is activated (Warning, Information). For example, in the case of a warning, execution can be aborted.

[0051] Similarly, the information can be generated as an information signal indicating that the rear-wheel steering system 1 is active.

[0052] For example, to execute the VM management module, knowledge of the driver's condition or knowledge of system integrity, i.e., knowledge of the availability and readiness of peripheral objects, including their actuators and sensors, or other energy information, is not necessary.

[0053] If no speed is yet available, a default value can be used.

[0054] Thus, the management module VM controls the execution of the rear-wheel steering system 1 and activates it.

[0055] Furthermore, the fifth subsystem C5 (motion planning subsystem) contains a motion planning module MovM, which is interlinked with subsystem C4 to receive the activation signal generated by the management module VM, the steering signal (Steering Wheel Input) generated by the input data module EM, and the speed detected by the motion module EgoM.

[0056] Based on these signals, the MovM motion planning module plans future steering maneuvers using lateral motion data, i.e., the lateral dynamics, meaning the physical movement of the vehicle in a sideways direction, which is transmitted to the infrastructure (infra), including the road surface. Lateral dynamics encompasses the lateral physical information resulting from the vehicle's position, whether stationary or in motion. These physical values ​​include various lateral dynamic parameters of the vehicle, such as lateral acceleration and yaw rate. Thus, the MovM motion planning module plans movements based on the received signals.

[0057] Based on the desired lateral dynamics, the motion planning module MovM generates a control signal (Planned Steering Data) which carries the desired steering / lateral movement data as a signal, which is sent to an actuator module AktM (subsystem C6) for implementation.

[0058] Furthermore, the actuator module AktM is present in subsystem C6 (motion control). In addition to the control signal, the actuator module AktM also receives the speed. Based on these signals, the actuator module AktM determines the necessary actuator settings / positions. A required actuator setting is then generated as a setting signal (desired effort). This means that the position of the actuators necessary to achieve the steering effect is determined.

[0059] Furthermore, the desired effort signal is sent to a conversion module (ConversionM) in a seventh subsystem (C7) to convert the received signal using a received low-voltage voltage and the necessary actuators to implement the desired steering / steering angle. This transmits the desired steering angle to the road, or the vehicle executes the desired rear-wheel steering.

[0060] The seventh subsystem, C7, also includes a feedback module, FeedM, which transmits feedback on the actual implementation to the actuator module, AktM, as feedback (Actuator Generated Effort). This feedback is then taken into account when the actuator module AktM regenerates the setting signal.

[0061] Furthermore, the first subsystem C1 includes an output module AusM, which is configured to output the activation upon receipt of the activation signal by the management module VM or an error function detected by the management module VM. This output can be haptic / visual or audible. For example, the output module AusM can include a display for this purpose.

[0062] In order for the rear-wheel steering system 1 to be activated, it receives steering wheel input from the driver, input of the settings, which may also have been set as default for reuse, and the request to activate the rear-wheel steering system 1.

[0063] The rear-wheel steering system 1 steers the rear wheels. This system provides two outputs: lateral dynamics, i.e., the physical movement of the vehicle in the sideways direction, executed by the rear axle or rear wheels, which is transmitted to the infrastructure, including the road surface. Lateral dynamics encompasses the lateral physical information resulting from the vehicle's position, whether stationary or in motion. These physical values ​​include various lateral dynamic parameters of the vehicle, such as lateral acceleration, yaw rate, etc.

[0064] The second output is the warning or information, i.e., a warning in case of malfunction or information when the rear-wheel steering system 1 is activated, which is reported back to the driver.

[0065] Fig. Figure 2 shows an activation and deactivation of the rear-wheel steering system 1 with a rear-wheel steering system architecture 3 in a vehicle.

[0066] A start module (StM) may be present, which is designed to receive instructions from the driver or a user. This could be, for example, a display for receiving or changing settings such as the steering angle in relation to the lateral dynamics of the wheels, or other characteristics. Furthermore, it could be the steering wheel itself for generating the steering signal based on the input from the steering wheel.

[0067] Furthermore, driver inputs can include activation of the rear-wheel steering system 1. This can be done, for example, via a switch / button.

[0068] The output module AusM can display a warning or information, for example, a message indicating that the rear-wheel steering system 1 is active or a warning that a malfunction has occurred. The output module AusM can, for example, be configured as a display labeled "DISPLAY".

[0069] Fig. Figure 3 shows the deactivation module DeM in detail for receiving a deactivation request as a driver input (Deactivation Request scenario) for the rear-wheel steering system 1. The start module StM can generate the deactivation signal (Deactivation Request scenario) by pressing a corresponding input field and forward it to the deactivation module DeM. The deactivation module DeM can be located within the management module VM or separately in the architecture ( Fig. 2).

[0070] The deactivation module DeM is configured to generate a deactivation output signal (Inactive) indicating that the rear-wheel steering system 1 is deactivated. This signal is then sent to the management module VM, which is configured to output corresponding information about the deactivation via the output module AusM, for example, on a display.

[0071] The display can be configured to output the deactivation signal (Inactive) using the output module AusM. The output can include a warning that indicates the inactive status of the rear-wheel steering system 1, for example, haptically, visually, or audibly. Reference symbol list 1 Rear-wheel steering system 3 Rear-wheel steering system architecture StM Starter Module EM Input Data Module EngM Energy Module VM Management Module EgoM movement module MovM Movement Planning Module AktM Actuator Module Implementation Module FeedM feedback module From output module DeM deactivation module QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] EP 2210796B1

[0007]

Claims

A rear-wheel steering system (1) with a rear-wheel steering system architecture (3) for a vehicle, with a plurality of sensors and actuators, characterized in that the rear-wheel steering system architecture (3) comprises a first subsystem (C1) with an input data module (EM) for receiving and recognizing driver inputs, wherein the driver inputs comprise at least one steering wheel input as input by a steering system, and furthermore an activation in an activation input device as an activation request for the rear-wheel steering system (1), and furthermore a setting for adjusting parameters relating to the rear-wheel steering system (1), and wherein the input data module (EM) is configured to generate a steering signal, an activation request signal, and a setting signal based on the received driver inputs, a fourth subsystem (C4) with a motion module (EgoM) which is configured toa third subsystem (C3) with a management module (VM) configured to receive the speed and the activation request signal, and configured to generate an activation signal based on the received signals to activate further modules in a predefined sequence, a fifth subsystem (C5) with a motion planning module (MovM) for receiving the activation signal generated by the management module (VM), the steering signal generated by the input data module (EM), and the speed detected by the motion module (EgoM), wherein the motion planning module (MovM) is configured to generate future lateral dynamics as lateral movement data based on the signals and a control signal carrying the lateral movement data as a signal.a sixth subsystem (C6) with an actuator module (ActM) for receiving the control signal and the speed, which is designed to generate a setting signal for adjusting the required actuators to implement the desired lateral movement data as motion control, and to transmit the setting signal to a conversion module (ConversionM) for executing the received setting signal as steering. Rear-wheel steering system (1) according to claim 1, characterized in that a seventh subsystem (C7) is provided which has the conversion module (conversionM) for converting the received setting signal on the basis of a received low-voltage voltage by means of the necessary actuators. Rear-wheel steering system (1) according to claim 2, characterized in that a feedback module (FeedM) is provided in the seventh subsystem (C7) for generating feedback on actual steering by the actuators to the actuator module (AktM) and wherein the actuator module (AktM) is configured to take the feedback into account when recalculating the setting signal. Rear-wheel steering system (1) according to one of the preceding claims, characterized in that the management module (VM) is configured to detect a technical status of required sensors and / or actuators at least with regard to functional safety and / or reliability and / or availability, and furthermore to generate a warning in the event of a detected malfunction with regard to the execution of the rear-wheel steering system (1) in relation to the detected status of the actuators and sensors. Rear-wheel steering system (1) according to one of the preceding claims, characterized in that the management module (VM) generates an information signal when activated. Rear-wheel steering system (1) according to claim 5, characterized in that the first subsystem (C1) has an output module (AusM) which is configured to output the warning or information signal. Rear-wheel steering system (1) according to one of the preceding claims, characterized in that the second subsystem (C2) has an energy module (EngM) which is configured at least to receive the activation signal, and is configured to provide electrical energy for required sensors and actuators requested by the management module (VM) based thereon, and to generate an electrical energy signal which carries the electrical energy for the requested sensors / actuators as a low-voltage voltage. Method for implementing a rear-wheel steering system architecture (3) of a rear-wheel steering system (1) for a vehicle, wherein the rear-wheel steering system (1) comprises a plurality of sensors and actuators, comprising the steps of: - providing an input data module (EM) in a first subsystem (C1) for receiving and recognizing driver inputs, wherein the driver inputs comprise at least a steering wheel input as input from a steering system, and furthermore an activation into an activation input device as an activation request for the rear-wheel steering system (1), and furthermore a setting for adjusting parameters relating to the rear-wheel steering system (1), and wherein the input data module (EM) generates a steering signal, an activation request signal, and a setting signal based on the received driver inputs; - providing a motion module (EgoM) in a fourth subsystem (C4), which is configured to:to detect a speed (vehicle speed) as a signal using suitable sensors; to provide a management module (VM) in a third subsystem (C3) for receiving the speed and the activation request signal, and which is configured to generate an activation signal based on the received signals to activate further modules in a predefined sequence; to provide a motion planning module (MovM) in a fifth subsystem (C5) for receiving the activation signal generated by the management module (VM), the steering signal generated by the input data module (EM), and the speed detected by the motion module (EgoM), wherein the motion planning module (MovM) generates future lateral dynamics as lateral movement data based on the signals and generates a control signal that carries the lateral movement data as a signal; to provide an actuator module (AktM) in a sixth subsystem (C6).for receiving the control signal and speed, for generating a setting signal for adjusting the required actuators for converting the desired lateral movement data as motion control, and for transmitting the setting signal to a conversion module (ConversionM) for executing the received setting signal as steering. Method according to claim 8, characterized in that a conversion module (conversionM) is provided in a seventh subsystem (C7) for converting the received setting signal on the basis of a received low voltage voltage by means of the necessary actuators. Method according to claim 9, characterized in that a feedback module (FeedM) is provided in the seventh subsystem (C7) for generating feedback on actual steering by the actuators to the actuator module (AktM) and wherein the actuator module (AktM) is configured to take the feedback into account when recalculating the setting signal. Vehicle with a rear-wheel steering system (1) according to any one of the preceding claims 1 to 7 and / or a method according to any one of the preceding claims 8 to 10 . Vehicle according to claim 11, characterized in that a start module (StM) is provided which is configured to receive physical driver inputs from a driver, wherein the start module (StM) is configured to pass the driver inputs to the input data module (EM). Vehicle (2) according to claim 11 or 12, characterized in that a deactivation module (DeM) is provided for receiving a deactivation as driver input, wherein the deactivation module (DeM) is configured to generate a deactivation output signal which causes the deactivation of the rear wheel steering system (1).

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