Method for control of a rear-axle steering of a motor vehicle
A method for control of a rear-axle steering of a motor vehicle. A steering angle of wheels of a rear axle is set. Upon reaching a predetermined lateral acceleration of the motor vehicle, the steering angle and/or the gradient of the steering angle of the wheels of the rear axle is limited as a function of a coefficient of friction of a roadway surface on which the motor vehicle is moving.
1. A method for control of a rear-axle steering of a motor vehicle, having a rear axle and one or more sensors comprising:
determining, based on one or more sensors, an estimated coefficient of friction of a roadway surface;
receiving, via a steering angle setting device, a steering angle set command, and, based on the steering angle set command, setting a steering angle of wheels of the rear axle of the motor vehicle;
determining when the motor vehicle has reached a predetermined level of lateral acceleration, and, upon the motor vehicle reaching this predetermined level of lateral acceleration, limiting the steering angle and/or a gradient of the steering angle of the wheels of the rear axle as a function of the estimated coefficient of friction of a roadway surface on which the motor vehicle is moving, and is calculated according to the formula:
Delta HA,MAX =(μ· g ·steering ratio HA )/(driving speed· yaw gain)
wherein Delta HA,MAX is a maximum rear-axle steering angle, μ is the estimated coefficient of friction of the roadway surface and yaw gain defines a relationship between the steering angle and a yaw rate of the motor vehicle.
2. The method as claimed in claim 1 , wherein the steering angle of the wheels of the rear axle is set by means of a steering angle setting device.
3. The method as claimed in claim 2 , wherein the gradient of the steering angle is continuously reduced.