Method for teaching at least one locking position of a blocking actuator, computer program, computer program product and vehicle

A method for teaching at least one locking position of a locking actuator relative to an element, which is to be locked and is configured to be driven by an electric motor, of a drivetrain of a vehicle, comprising:

• initiating a lifting movement of a locking element of the locking actuator, along a lifting axis, into a recess of the element to be locked;
• receiving a sensor signal indicating a locking position of the locking element in the recess;
• initiating clockwise electromotive pivoting of the locked element until the locking element comes to a first stop against the locked element and interrupting the pivoting when a definable electromotive deactivation torque is reached;
• receiving a first electromotive angle information concerning the recess, corresponding to the first stop;
• initiating counterclockwise electromotive pivoting of the locked element until the locking element comes to a second stop against the locked element and interrupting the pivoting when the definable electromotive deactivation torque is reached;
• receiving a second electromotive angle information concerning the recess, corresponding to the second stop;
• and
• ascertaining electromotive angle information, corresponding to a central position of the recess, from the first electromotive angle information concerning the recess and the second electromotive angle information concerning the recess.

A computer program stored on a nontransient computer readable medium configured to cause a computer to:

• initiate a lifting movement of a locking element of a locking actuator, along a lifting axis, into a recess of an element to be locked;
• receive a sensor signal indicating a locking position of the locking element in the recess;
• initiate clockwise electromotive pivoting of the locked element until the locking element comes to a first stop against the locked element and interrupting the pivoting when a definable electromotive deactivation torque is reached;
• receive a first electromotive angle information concerning the recess, corresponding to the first stop;
• initiate counterclockwise electromotive pivoting of the locked element until the locking element comes to a second stop against the locked element and interrupting the pivoting when the definable electromotive deactivation torque is reached;
• receive a second electromotive angle information concerning the recess, corresponding to the second stop;
• and
• ascertain electromotive angle information, corresponding to a central position of the recess, from the first electromotive angle information concerning the recess and the second electromotive angle information concerning the recess.

A computer program product, comprising program code means that are stored on a nontransient computer-readable data carrier in order to perform a method when the program code means are executed on a computer, comprising:

• initiate a lifting movement of a locking element of a locking actuator, along a lifting axis, into a recess of an element to be locked;
• receive a sensor signal indicating a locking position of the locking element in the recess;
• initiate clockwise electromotive pivoting of the locked element until the locking element comes to a first stop against the locked element and interrupting the pivoting when a definable electromotive deactivation torque is reached;
• receive a first electromotive angle information concerning the recess, corresponding to the first stop;
• initiate counterclockwise electromotive pivoting of the locked element until the locking element comes to a second stop against the locked element and interrupting the pivoting when the definable electromotive deactivation torque is reached;
• receive a second electromotive angle information concerning the recess, corresponding to the second stop;
• and
• ascertain electromotive angle information, corresponding to a central position of the recess, from the first electromotive angle information concerning the recess and the second electromotive angle information concerning the recess.