Patent ID: 8560176

Claim:
A method comprising: controlling a steering device with steering power support means for a motor vehicle with at least one steerable road wheel, the steering device including: a steering shaft with a first end to adopt a steering wheel and with a second end which is coupled to a pinion, wherein said pinion is engaging in a rack, wherein said rack is adjustable in its longitudinal direction to different positions, whereby said at least one steerable road wheel is capable of turning, whereby in a middle position of said rack said at least one steerable road wheel is turned as to steer said motor vehicle in a straight ahead direction; a control device controlling said steering power support means; a first sensing means detecting torque introduced in said steering shaft; a second sensing means detecting speed of said motor vehicle; a means for determining said different positions of said rack; and a device for determining an instantaneous rack load in its longitudinal direction, which is introduced by said at least one steerable road wheel; determining a difference between said middle position and an instantaneous position of said rack; and storing an instantaneous value of said rack load into said control device as an offset value, if said difference is lower than a threshold value and if said speed of said motor vehicle is higher than a threshold value.