The invention relates to a vehicle with coordinated steering. There is a need for a vehicle wherein Ackerman steered front wheels are coordinated with differentially steered and driven rear wheels. Such a vehicle includes Ackerman steerable front wheels and differentially driven left and right rear wheels. A steered wheel angle sensor is coupled to the front wheels and generates a steered wheel angle value. A front steering unit steers the front wheels and a differential drive unit drives the rear wheels. A control unit is coupled to the steering input sensor, to the steered wheel angle sensor, and to the front steering unit and the differential drive unit. The control unit generates the front steering control signal and the rear drive/steering control signal, and coordinates the steering operation of the front wheels with the differential steering/driving of the rear wheels.