Method for controlling a road milling machine and road milling machine

A method for controlling a road milling machine for milling a ground comprising a milling drum and a rear blade, the method comprising, when there is an obstacle located in the ground to be milled, the steps of:

• a) milling the ground at a predetermined milling depth (FT) along a working direction (a);
• b) advancing the road milling machine in the working direction (a) towards the obstacle located in the ground;
• c) raising the milling drum and the rear blade out of the ground in the working direction (a) in front of the obstacle;
• d) moving over the obstacle in such a way that the milling drum remains out of contact with the obstacle;
• and
• e) lowering the milling drum and the rear blade to the predetermined milling depth (FT) in the working direction (a) behind the obstacle and continuing the milling of the ground,
• wherein the road milling machine is controlled in such a way that in step c) the raising of the milling drum is carried out before the raising of the rear blade out of the ground, wherein the road milling machine continues to move in the working direction (a) between the raising of the milling drum and the raising of the rear blade, and
• wherein, when raising the milling drum, the height of the rear blade is adjusted to below a lower apex of the milling drum by at least 10% of a diameter of the milling drum.