the maneuvering area of a front and rear wheel steering vehicle is minimized by making the rear wheels follow the trajectories of the front wheels . this can be accomplished by steering the rear wheels so that they may coincide , in a spatially fixed absolute coordinate system , with the steer angles of the front wheels when they were located at the same locations as the current positions of the rear wheels . further proposed is an algorithm for achieving the required rear wheel steering control which comprises the steps of detecting the yaw angle of the vehicle body and subtracting from the steer angles of the front wheels at the time point when the front wheels were located at the current positions of the rear wheels , the change in the yaw angle of the vehicle body from the said time point to the current time point . thus , the vehicle is able to go through a most narrow and tortuous road for the given size of the vehicle without deviating from the prescribed course of the road , and the driver is required only to get the front part of the vehicle pass through narrow points of the road without paying attention to the rear part of the vehicle .