| 摘要 |
The present invention relates to a method for the automated parking of a motor vehicle equipped with an active parking steering assistance system and with a superposition steering apparatus (3), said method having the steps: (a) determining a present wheel angle or a present steering wheel angle of the motor vehicle, (b) generating a dynamic angle specification by means of the parking steering assistance system and transmitting the dynamic angle specification as an input signal for a control apparatus of the vehicle steering apparatus and for a control apparatus of the superposition steering apparatus (3), (c) controlling the vehicle steering apparatus such that the wheel angle is changed corresponding to the dynamic angle specification, and (d) controlling the superposition steering apparatus (3) such that a superposition angle is generated by means of which the change in the steering wheel angle actually effected as a result of the control of the vehicle steering apparatus is at least partially compensated. The present invention also relates to a motor vehicle which is set up for carrying out the method, and to a computer program product. |
