US 12,263,901 B2
Method and device for controlling a rear-axle steering system
Martin Muenster, Munich (DE); and Martin Sedlmayr, Wessobrunn (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 17/783,435
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Nov. 9, 2020, PCT No. PCT/EP2020/081473
§ 371(c)(1), (2) Date Jun. 8, 2022,
PCT Pub. No. WO2021/115695, PCT Pub. Date Jun. 17, 2021.
Claims priority of application No. 10 2019 133 917.0 (DE), filed on Dec. 11, 2019.
Prior Publication US 2023/0011747 A1, Jan. 12, 2023
Int. Cl. B62D 6/00 (2006.01); B62D 5/04 (2006.01); B62D 15/02 (2006.01)
CPC B62D 6/002 (2013.01) [B62D 5/046 (2013.01); B62D 15/021 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for controlling a rear-axle steering system of a vehicle having a steerable rear axle, comprising:
determining a present physical state of the rear-axle steering system based on a detected present operating state (Aact) and a predetermined reference operating state (Anorm) of the rear-axle steering system;
specifying a maximum permissible value of a steering angle (Lmax) of the rear-axle steering system as a function of an estimated physical state of the rear-axle steering system and as a function of at least one of operating parameters driving speed (Vx), the steering angle (L) of the rear-axle steering system, and steering angle speed (VL) of the vehicle; and
activating the rear-axle steering system so that the steering angle (L) of the rear-axle steering system does not exceed an assigned specified maximum permissible value of the steering angle (Lmax) with the operating parameter(s) (Vx,VL) of the vehicle.