Method of controlling a vehicle steering apparatus

摘要

A method for controlling a steering apparatus (10) of a vehicle includes providing a steering signal (154) indicative of a steering maneuver to be performed. A desired parameter of the steering apparatus is calculated during the steering maneuver when no external force is applied to a hand wheel (14) of the vehicle. The parameter is measured during the steering maneuver. A mode signal (182) is produced by comprising the desired parameter to the parameter. The vehicle is placed in one of an autonomous driving mode and a manual driving mode based on the mode signal (182).