Method for learning an admissible steering angle by a vehicle steering device, wherein mechanical and/or software-based stops limiting the steering angle are present or temporarily mounted on the vehicle, wherein, on the one hand, the steering force applied to the steering wheel and, on the other hand, the steering angle on the input of the steering gear is directly or indirectly recorded and analysed by means of sensors (16, 17), wherein - the steering device is a superimposed steering system with a superimposition gearbox, wherein the steering angle generated by operating a steering wheel, controlled by a control device, imposes a superimposed steering angle by means of the superimposition gearbox, which increases or decreases the steering angle depending on the measured driving dynamics parameters, - a memory is provided, to which the control device controlling the superimposed steering system has access and in which steering parameters for different driving dynamics parameters are stored, and wherein information on at least one admissible steering angle (LW1 (right) to LWn (right), LW1 (left) to LWn (left)) in each steering direction is stored in the memory, - in a learning routine executed by means of the control device a steering force is manually applied to the steering wheel in both steering directions and its value directly or indirectly recorded and then, if the steering force applied exceeds a respective predetermined value, after a specified period of time has elapsed, the steering angle at the output of the superimposition gearbox is directly or indirectly recorded by the control device and defined as the absolute maximum steering angle (LW max(right), LW max(left)) in the respective steering direction (Step S8, Step S17), - after determining the absolute maximum steering angle (LW max(right), LW max(left)) in both rotation directions of the steering wheel, at least one respective admissible steering angle (LW1 (right) to LWn (right), LW1 (left) to LWn (left)) is calculated by means of the control device, - the at least one calculated admissible steering angle in each steering direction (LW1 (right) to LWn (right), LW1 (left) to LWn (left)) is assigned to the stored steering parameters and stored in the memory (Step S9, Step S18). - the steering device is a superimposed steering system with a superimposition gearbox, wherein the steering angle generated by operating a steering wheel, controlled by a control device, imposes a superimposed steering angle by means of the superimposition gearbox, which increases or decreases the steering angle depending on the measured driving dynamics parameters, - a memory is provided, to which the control device controlling the superimposed steering system has access and in which steering parameters for different driving dynamics parameters are stored, and wherein information on at least one admissible steering angle (LW1 (right) to LWn (right), LW1 (left) to LWn (left)) in each steering direction is stored in the memory, - in a learning routine executed by means of the control device a steering force is manually applied to the steering wheel in both steering directions and its value directly or indirectly recorded and then, if the steering force applied exceeds a respective predetermined value, after a specified period of time has elapsed, the steering angle at the output of the superimposition gearbox is directly or indirectly recorded by the control device and defined as the absolute maximum steering angle (LW max(right), LW max(left)) in the respective steering direction (Step S8, Step S17), - after determining the absolute maximum steering angle (LW max(right), LW max(left)) in both rotation directions of the steering wheel, at least one respective admissible steering angle (LW1 (right) to LWn (right), LW1 (left) to LWn (left)) is calculated by means of the control device, - the at least one calculated admissible steering angle in each steering direction (LW1 (right) to LWn (right), LW1 (left) to LWn (left)) is assigned to the stored steering parameters and stored in the memory (Step S9, Step S18).