Motor vehicle with supplemental rear steering having open and closed loop modes

A method for controlling a steerable rear wheel in a motor vehicle having one or more operator steered front wheels, comprising the steps:

• measuring longitudinal vehicle velocity;
• measuring a front steer angle;
• if the measured longitudinal vehicle velocity is within a predetermined low velocity range, deriving a first rear steer angle command in open loop responsive to the measured longitudinal vehicle speed and front steer angle and applying the first rear steer angle command to the steerable rear wheel out of phase with the front steer angle;
• if the measured longitudinal vehicle velocity is within a predetermined high speed range higher than the low velocity range, deriving a second rear steer angle command in closed loop responsive at least to yaw rate error and applying the second rear steer angle command to the steerable rear wheel in phase with the front steer angle;
• and
• if the measured longitudinal vehicle velocity is within an intermediate velocity range between the high velocity range and the low velocity range, deriving a third rear steer angle command in closed loop responsive at least to yaw rate error and applying the third rear steer angle command to the steerable rear wheel.