Method and device for managing a turning setpoint applied to at least one turning actuator for the rear wheels of an automobile

A method for managing a turning setpoint applied to at least one turning actuator of rear wheels of a motor vehicle including four steering wheels, the turning setpoint being generated by a braking control unit during a braking situation with asymmetrical adhesion, the method comprising:

• calculating a turning setpoint of the rear wheels making it possible to compensate for a yaw torque generated by the braking with asymmetrical adhesion of the four wheels;
• transmitting the turning setpoint to the at least one turning actuator of the rear wheels;
• monitoring a value of the turning setpoint by an acceptance module which either accepts the turning setpoint or does not accept the turning setpoint, the monitoring including the acceptance module accepting the turning setpoint when:
• a braking control member is actuated by a driver of the vehicle,
• a braking assistance system is activated,
• the vehicle is travelling forward, and
• a communication is established between the braking control unit and a turning control unit;
• when the acceptance module accepts the turning setpoint,
• transmitting to the braking control unit an item of information generated by the acceptance module and indicating to the braking control unit that the turning setpoint was accepted, and
• turning, via the turning actuator, the rear wheels of the motor vehicle according to the turning setpoint in order to compensate for the yaw torque generated by the braking with asymmetrical adhesion of the four wheels;
• and
• when the acceptance module does not accept the turning setpoint,
• transmitting to the braking control unit an item of information generated by the acceptance module and indicating to the braking control unit that the turning setpoint was not accepted, and
• adapting the braking applied to the rear wheels of the motor vehicle without turning the rear wheels of the motor vehicle according to the turning setpoint.