Patent ID: 8494718

Claim:
A steering device for adjusting a wheel steering angle of a rear wheel of a motor vehicle, the steering device comprising: a wheel guide member for changing the wheel steering angle of the rear wheel; a steering control unit for controlling the wheel guide member, wherein the steering control unit has a first acquisition unit for a basic steering function, an arbitration unit and an actuator travel control system; wherein: the first acquisition unit receives input signals from sensors including at least a vehicle speed V Kfz and a driver steering angle δ Driver , and input control command signals indicating a driving mode set by a driver of the vehicle, and computes a first steering angle setpoint value based on the input signals, the arbitration unit calculates a modified setpoint value based on the first steering angle setpoint value and steering angle correction signals predefined based on the movement dynamics of the motor vehicle, and a scaling factor for attenuating contribution to steering the motor vehicle by the driver, and the actuator travel control system is configured to adjust travel of the rear wheel guide member based on the modified setpoint value and an actual signal value currently being output by the actuator travel control system.