Method for controlling a motor vehicle at slow speeds by means of a drive differential torque on the rear axle

A method for controlling a steer-by-wire steering system for a motor vehicle, wherein the motor vehicle comprises two axles with two wheels each, wherein two front wheels are steerable by way of front-wheel steering and are connected to one another via a second steering rod of a steering system of the front-wheel steering, wherein two rear wheels are steerable by way of rear-wheel steering and are connected to one another via a first steering rod of a steering system of the rear-wheel steering, the motor vehicle comprising a single wheel drive that is assigned to one of the two axles and that drives the two wheels of the corresponding axle via a differential, wherein the motor vehicle comprises an inboard braking system, the method comprising:

• checking the motor vehicle speed;
• activating rear-axle steering when the motor vehicle speed should be less than a defined motor vehicle speed;
• and
• performing the following steps with the rear-axle steering active:
• deactivating rear-wheel steering,
• determining a reference position of the first steering rod by way of a reference wheel steering angle of the rear wheels, and
• determining a differential drive torque between the two rear wheels to reach the reference position by way of a control unit.