Method for controlling a vehicle steering actuator , which is coupled to a steering gear , the method comprising: - providing an end stop reset function by means of which a first control variable (S1) for the vehicle steering actuator can be determined, on the basis of which a force that resets the steering gear in the direction of a defined position can be at least partially generated by the vehicle steering actuator ; - determining whether the steering gear falls below a limit distance (D) from an end stop (E); and if this is the case: - controlling the vehicle steering actuator on the basis of the first control variable (S1) determined by the end stop reset function , which control variable has a value above a threshold value; wherein, if the distance does not fall below the limit distance (D), no control variable (S1) is determined by the end stop reset function or a control variable (S1) having a value which does not exceed the threshold value is determined, wherein, as an additional condition for controlling the vehicle steering actuator on the basis of the end stop reset function , it is determined whether an operating-state-dependent criterion of a vehicle comprising the steering gear is met, characterized in that non-activation of an at least partially driver-autonomous parking function is defined as an operating-state-dependent criterion. - providing an end stop reset function by means of which a first control variable (S1) for the vehicle steering actuator can be determined, on the basis of which a force that resets the steering gear in the direction of a defined position can be at least partially generated by the vehicle steering actuator ; - determining whether the steering gear falls below a limit distance (D) from an end stop (E); - controlling the vehicle steering actuator on the basis of the first control variable (S1) determined by the end stop reset function , which control variable has a value above a threshold value; wherein, if the distance does not fall below the limit distance (D), no control variable (S1) is determined by the end stop reset function or a control variable (S1) having a value which does not exceed the threshold value is determined, wherein, as an additional condition for controlling the vehicle steering actuator on the basis of the end stop reset function , it is determined whether an operating-state-dependent criterion of a vehicle comprising the steering gear is met, characterized in that non-activation of an at least partially driver-autonomous parking function is defined as an operating-state-dependent criterion. wherein, if the distance does not fall below the limit distance (D), no control variable (S1) is determined by the end stop reset function or a control variable (S1) having a value which does not exceed the threshold value is determined, wherein, as an additional condition for controlling the vehicle steering actuator on the basis of the end stop reset function , it is determined whether an operating-state-dependent criterion of a vehicle comprising the steering gear is met, characterized in that non-activation of an at least partially driver-autonomous parking function is defined as an operating-state-dependent criterion. <EOS>