Method for controlling a four-wheel steering motor vehicle, taking into account constraints on the steering of the rear wheels

Abstract

Method for controlling a four-wheel steering motor vehicle including consideration of constraints on the steering angle of the rear wheels. The invention relates to a method for controlling a motor vehicle (10) comprising at least one steering actuator for the wheels of at least one rear axle and, for each of the front wheels and the wheels of at least one rear axle, a differential braking actuator, the method comprising: a / calculating the actuator commands as a function of a command request representative of a desired yaw moment of the vehicle by means of a command allocation method; b / distributing the commands to the actuators, the calculation of the commands being carried out taking into account constraints on the minimum and maximum lateral forces that can be applied to the rear wheels of the vehicle to modify their steering angle. Figure for the abstract: Fig. 1