Crawl operations for four-wheel steering vehicles

A non-transitory machine readable medium comprising instructions that, when executed, cause an electronic control unit (ECU) of a vehicle to:

• activate a front steering actuator of the vehicle to turn front wheels of the vehicle in a first direction;
• activate a rear steering actuator of the vehicle to turn rear wheels of the vehicle in a second direction opposite the first direction such that the front wheels and the rear wheels are turned in opposite directions;
• activate a front drive motor to drive the front wheels in a reverse direction;
• and
• activate a rear drive motor to drive the rear wheels in a forward direction while the front drive motor is activated and driving the front wheels in the reverse direction and while the left and right front wheels are turned in the first direction and the left and right rear wheels are turned in the second direction.

A vehicle comprising:

• a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel;
• a left front steering actuator to turn the left front wheel;
• a right front steering actuator to turn the right front wheel;
• a left rear steering actuator to turn the left rear wheel;
• a right rear steering actuator to turn the right rear wheel;
• a front drive motor to drive the left and right front wheels;
• a rear drive motor to drive the left and right rear wheels;
• and
• an electronic control unit (ECU) programmed to:
• activate the left front steering actuator and the left rear steering actuator to turn the left front wheel and the left rear wheel, respectively, in a first direction;
• activate the right front steering actuator and the right rear steering actuator to turn the right front wheel and the right rear wheel, respectively, in a second direction while the left front wheel and the left rear wheel are turned in the first direction;
• and
• while the left front wheel and the left rear wheel are turned in the first direction and the right front wheel and the right rear wheel are turned in the second direction, activate the front drive motor and the rear drive motor to drive the left and right front wheels and the left and right rear wheels, respectively, in a same direction.