Abstract: Disclosed herein is a method and arrangement for safe limiting of torque overlay intervention in a power assisted steering system of a road vehicle having an autonomous steering function arranged to selectively apply a steering wheel overlay torque to a normal steering assistance torque. A wheel self-aligning torque (ƒR) of the road vehicle is modelled for a current vehicle velocity (?) and pinion angle (?w). A steering wheel overlay torque request (?R) is received. Based on the received steering wheel overlay torque request (?R) is provided a steering wheel overlay torque (?A) in hands-off applications limited to a safe set interval that is symmetrical around the modeled wheel self-aligning torque (ƒR).

Abstract: A method and system for detecting the presence of an occupant on a vehicle seat is disclosed. The vehicle seat is provided with at least a pair of electrodes which are connected to a detection circuit for detecting a change in capacitance between the electrodes. If the detection circuit detects a sufficiently large change in capacitance, a positive detection signal is produced. To reduce the risk of interference, the electrodes of the detection circuit are substantially insulated from the chassis of the vehicle and its electrical system when the detection circuit is in an active condition.