Patent ID: 7548807

Claim:
A method of steering a vehicle with a superimposed steering system comprising; inputting a steering angle by the driver; determining an additional steering angle wherein the additional steering angle can override the input steering angle according to further quantities, through an electric motor; providing a steering angle control with a subordinated current or torque control of the electric motor; executing an anticipatory control of a nominal speed of the motor ω M,nominal, determined from a motor speed specification ω M,spec and a motor speed present value ω M,reg, by: determining the motor speed preset value ω M,reg by comparing a nominal steering angle value δ L,nominal and a determined actual steering angle value δ L,Actual, and determining the motor speed specification ω M,spec from the time derivative of the nominal steering angle value δ L,nominal and the driver's steering angle δ H and a gear ratio factor I L2 by means of the following formula: ω M,spec =({dot over (δ)} L,nominal −I L1 {dot over (δ)} H )/ I L2 .