Patent ID: 8355842

Claim:
A method of steering a motor vehicle in a collision avoidance maneuver ahead of an object in the front or lateral surroundings of the motor vehicle with the following steps: calculating an avoiding path for the avoiding maneuver in front of the object; determining each one controller output signal (δ LLM1 ; . . . ; δ LLMN ) based on a deviation (e) between an actual position of the motor vehicle and a nominal position predetermined due to the avoiding path in at least two linear controller modules, wherein each linear controller module is optimized for steering angle control in a defined speed range of the vehicle speed (v); weighting the controller output signals (δ LLM1 ; . . . ; δ LLMN ) with respectively one weighting factor (Φ 1 ; . . . ; Φ N ) that is determined depending on the vehicle speed (v); determining a steering angle (δ M ; δ MFB ) of steerable wheels of the motor vehicle by way of arbitration of the weighted controller output signals; and influencing a steering system of the motor vehicle according to the determined steering angle (δ M ; δ MFB ).