Rear steering control for a vehicle

A steering method for an agricultural vehicle having one or more steerable front wheels, one or more steerable rear wheels, a steering input device configured to receive a manual steering input for the one or more steerable front wheels, a rear hydraulic steering device coupled to at least one of the one or more steerable rear wheels, a rear valve assembly configured to control the rear hydraulic steering device in order to steer the at least one steerable rear wheel, and a controller, the steering method comprising:

• determining, in at least one mode, a rear steering command by a controller;
• providing, in at least one mode, the rear steering command to the rear valve assembly;
• and
• controlling, in at least one mode, the rear hydraulic steering device with the rear valve assembly based upon, at least in part, the rear steering command from the controller;
• wherein, in a manual steering mode, the controller does not determine a rear steering command for the rear valve assembly such that the rear wheels are freely rotatable;
• wherein, in a rear steering assist mode, the rear steering command is determined based upon, at least in part, the manual steering input;
• and
• wherein, in an automated steering mode, the rear steering command is determined based upon, at least in part, a target path of the agricultural vehicle that is determined independently of the manual steering input.