Patent ID: 8594891

Claim:
A steering apparatus for a vehicle, comprising: a steering actuation apparatus operable by a driver; electromechanical control assemblies configured to control a steerable wheel pair having a first wheel located on a right side and a second wheel located on a left side of a vehicle body, each of the first wheel and the second wheel associated respectively with a first steering stop and a second steering stop, the first wheel and second wheel connected to a steerable vehicle axis; and a central control unit that: ascertains an operating situation of the vehicle; ascertains a spring deflection of the first wheel and the second wheel in a case of the vehicle having a stationary operating situation; maximizes the electronic specifications of the first steering stop and second steering stop of the respective first wheel and second wheel as a function of the spring deflection; ascertains a yaw angle of the vehicle when the vehicle has a moving operating situation; maintains the electronic specifications of the first steering stop and second steering stop of the respective first wheel and second wheel in a third case when the yaw angle is equal to zero and the vehicle has a moving operating situation; ascertains a lateral acceleration in a fourth case when the yaw angle is greater than zero and the vehicle has a moving operating situation; ascertains the spring deflection of the first wheel and the second wheel and maximizes the electronic specifications of the first steering stop and second steering stop of the respective first wheel and second wheel as the function of the spring deflection in a fifth case when the lateral acceleration is close to zero and the yaw angle is greater than zero with the vehicle having a moving operating situation; ascertains the spring deflection of the first wheel and the second wheel and adjusts the electronic specifications of the first steering stop and second steering stop as the function of the spring deflection and according to the ESP specifications when the lateral acceleration is greater than zero and the yaw angle is associated with the vehicle having a moving operating situation.