Front and rear steering vehicle with yaw and slip control

A motor vehicle, comprising:

• two front wheels with front wheel steering,
• two rear wheels with rear wheel steering, and
• a driving stability device with a controller, wherein the controller of the driving stability device is configured to synchronize the front wheel steering and the rear wheel steering in such a way that the front wheel steering and rear wheel steering are involved independently of one another in controlling the driving stability, wherein the controller of the driving stability device, is further configured to:
• calculate a target yaw rate (γtarget) from a vehicle speed (v) and a steering wheel angle (δsteering), and to calculate a side slip angle (β) from the vehicle speed (v) and the steering wheel angle (δsteering);
• calculate a difference between an actual yaw rate (γmeas) and a target yaw rate (γtarget), resulting in a definition of a target yaw rate error (eγ);
• calculate a desired overall steering angle (Δδg) from the target yaw rate error (eγ);
• distribute the angle to the front axle, by correcting only the steering angle of the front wheels;
• distribute the angle to the rear axle, by correcting only the steering angle of the rear wheels, wherein correcting the steering angle of the rear wheels includes either ensuring that a correction steering angle for the rear wheels (Δδr) corresponds to a negative of the desired overall steering angle (Δδg), or changing a target side slip angle (βtarget);
• and
• distribute the angle between the front and rear axle, by correcting both the front steering angle and the rear steering angle, wherein correcting the rear steering angle includes either ensuring that a correction steering angle for the rear wheels (Δδr) corresponds to a negative of the desired overall steering angle (Δδg), or changing a target side slip angle (βtarget).