Method for Controlling a Steering Actuator, and Steering System

A method for controlling a steering actuator, wherein the steering actuator is set up to adjust at least one wheel of a motor vehicle or to assist adjustment of the at least one wheel by a steering torque, the method comprising the steps of:

• determining a change in steering angle (φ⋅i) of the at least one wheel;
• ascertaining a cumulative change in steering angle (φk) on the basis of the change in steering angle (φ⋅i), wherein the change in steering angle (φ⋅i) or a weighted change in steering angle (φ⋅G) is summated in terms of absolute amounts in order to ascertain the cumulative change in steering angle (φk);
• ascertaining a reduction factor (Ra) on the basis of the cumulative change in steering angle (φk);
• ascertaining a preliminary steering angle target value or a preliminary steering torque target value for the steering actuator;
• and
• reducing the preliminary steering angle target value or the preliminary steering torque target value on the basis of the reduction factor (Ra) ascertained, whereby a scaled steering angle target value or a scaled steering torque target value for the steering actuator is obtained.

A steering system, comprising:

• at least one electromechanical steering actuator;
• and
• a control unit for the steering actuator, wherein the control unit is configured to:
• determine a change in steering angle (φ⋅i) of the at least one wheel;
• ascertain a cumulative change in steering angle (φk) on the basis of the change in steering angle (φ⋅i), wherein the change in steering angle (φ⋅i) or a weighted change in steering angle (φ⋅G) is summated in terms of absolute amounts in order to ascertain the cumulative change in steering angle (φk);
• ascertain a reduction factor (Ra) on the basis of the cumulative change in steering angle (φk);
• ascertain a preliminary steering angle target value or a preliminary steering torque target value for the steering actuator;
• and
• reduce the preliminary steering angle target value or the preliminary steering torque target value on the basis of the reduction factor (Ra) ascertained, whereby a scaled steering angle target value or a scaled steering torque target value for the steering actuator is obtained.