Static steering angle reducing algorithm for four wheel steering systems

A method for controlling the rear steering angle of a vehicle includes calibrating a static vehicle speed threshold, detecting an actual vehicle speed below the calibrated static vehicle speed threshold, determining whether the phase of a rear steering angle is correct in response to the detected speed below threshold, ramping to zero the rear steering angle if the determined phase is not correct, deciding whether the rear steering angle is greater than a desired rear steering angle if the determined phase is correct, and ramping down the rear steering angle to the desired rear steering angle in response to the decidedly greater angle by commanding an electric motor operably coupled to the steering rack.