Abstract: A steering system includes an actuator, a steering wheel that generates inputs for the actuator in a manual steer-by-wire control state, and a controller that determines operating conditions for the actuator, the steering wheel, or both. The controller determines blended steering angles based on manual steering angles of the steering wheel and automatic steering angles associated with an automated steer-by-wire control state. The controller transitions operation of the steering system from the manual steer-by-wire control state to the automated steer-by-wire control state when all operating conditions are satisfied and uses a blending function that applies weighting values to the manual steering angles and the automated steering angles to determine the blended steering angles. The controller controls the actuator using the blended steering angles.

Abstract: A method for controlling a vehicle includes operating a steering system in manual steer-by-wire control state and determining that a transition to an automated steer-by-wire control state is to be performed by the steering system. The method also includes entering the automated steer-by-wire control state upon determining that all conditions from a group of state entry conditions are satisfied, and operating the steering system in the automated steer-by-wire control state until determining that any condition from a group of state exit conditions is satisfied. The method also includes entering the manual steer-by-wire control state upon determining that any condition from the group of state exit conditions is satisfied.

Abstract: A vehicle has a wheel, a frame, a suspension component, a steering knuckle, and a steering system. The suspension component is connected to the frame. The steering knuckle is connected to the suspension component and is connected to the wheel. The suspension component is operable to control vertical movement of the steering knuckle and the wheel relative to the frame. The suspension component and the steering knuckle define a steering axis for the wheel. The steering axis has a caster inclination angle of zero degrees. The steering system is connected to the suspension component and controls a steering angle of the wheel based on an electronic control signal.