Steering rod and sensor system for a steer-by-wire steering system

Abstract

To provide a steering rod for a steer-by-wire type steering system.SOLUTION: A steering rod (10) is configured to move over a predetermined section S in an axial direction, and the steering rod includes a first target track (12) with conductive first segments (24) with gaps (28) between the first segments. The first segments and the gaps form a first pattern that is repeated with a first period length p1 along the first target track, and the steering rod includes a second target track (14) with electrically conductive second segments (26), between which there are gaps. The second segments and the gaps form a second pattern that is repeated along the second target track with a second period length p2, wherein the period lengths p1 and p2 are selected such that the least common multiple of the period lengths p1 and p2 is greater than or equal to the interval S.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to steer-by-wire steering systems, and more particularly to linear sensors for determining the position of a steering rod or individual wheel adjusters. [Background technology]

[0002] Conventional technology Steer-by-wire steering systems are an advancement in automotive manufacturing, where the traditional mechanical connection between the steering wheel and steering gear is replaced by an electronic control system. In traditional steering systems, a steering rod transmits the rotational movement of the steering wheel directly to the wheels. In contrast, in steer-by-wire systems, the movement of the steering wheel is detected by sensors and transmitted as an electrical signal to a control computer. The control computer processes the signals and controls the movement of the wheels using actuators. This allows for precise adaptation of feedback and steering assistance, which allows for better vehicle control and individual adjustment of steering characteristics.

[0003] The basic structure of a steer-by-wire system includes several major components. First, sensors are mounted on the steering wheel to detect rotation angle and torque. This information is transmitted to a central control computer, which calculates the desired driving direction and driving dynamics. Control commands are then transmitted to electrical actuators that position the wheels accordingly. Another important component is a feedback system that transmits artificial forces back to the steering wheel, thereby providing the driver with realistic feedback about road conditions.

[0004] A particular problem in steer-by-wire systems is determining the exact position of the steering rod or individual wheel adjusters after restarting the vehicle. In mechanical systems, the position of the steering rod is physically predetermined by the connection between the steering rod and the wheels, whereas in steer-by-wire systems, the position must be determined electronically after switching on. This can be difficult because the sensors and control devices do not initially have accurate information about the wheel attitude.

[0005] The sensor that determines the position via the rotation of the drive of the steering system is not unambiguous. This ambiguity can be solved by using a counting system that counts the number of rotations of the drive together and thereby determines the exact position of the steering rod. However, the counter does not work when the vehicle is switched off. If the steering rod moves when the vehicle is switched off, for example because the wheels are moved when the vehicle is lifted onto a lift platform in a workshop, the stored counter value becomes useless because it no longer indicates the correct position of the steering rod.

[0006] For this reason, it is important to use a system for determining the position of the steering rod that allows for an unambiguous linear displacement measurement. Summary of the Invention [Problem to be solved by the invention]

[0007] The problem underlying the invention is therefore to propose a measurement method and a corresponding sensor system for steering a vehicle, which provides unambiguous localization of the steering rod or the individual wheel adjusters. [Means for solving the problem]

[0008] The above problem is solved by the subject matter of the independent claims.

[0009] In the following, the term steering rod is used either in its original sense, i.e. synonymously with a steering rod for steering two wheels, or in the sense of an individual wheel adjuster, i.e. synonymously with a steering rod for steering an individual wheel, and therefore these terms are interchangeable.

[0010] Disclosure of the Invention According to a first aspect of the present invention, the above-mentioned problem is solved by a steering rod for a steer-by-wire steering system. The steering rod is configured to move axially over a predetermined distance S. The steering rod includes a first target track with conductive first segments, with gaps between the first segments, such that the first segments and the gaps form a first pattern that repeats along the first target track with a first periodic length p1. The steering rod further includes a second target track with conductive second segments, with gaps between the second segments, such that the second segments and the gaps form a second pattern that repeats along the second target track with a second periodic length p2.

[0011] The segments are fixedly connected to the steering rod, and the target tracks extend parallel to each other and parallel to the axial direction of the steering rod.

[0012] The period lengths p1 and p2 are selected so that the least common multiple of the period lengths p1 and p2 is equal to or greater than the interval S.

[0013] Least common multiple is a mathematical term. The least common multiple of two integers m and n is the smallest positive natural number that is both a multiple of m and a multiple of n.

[0014] In this case, the period lengths p1 and p2 should be used with a number of digits such that the positioning accuracy is consistent with the natural number space. If a segment has a length of, say, 1.7 cm, the length can be expressed in millimeters as 17 mm. The same applies to the gap between the segments. In this way, the period lengths p1 and p2 are always expressed as integers / natural numbers, and therefore a common method for identifying the least common multiple can be used.

[0015] By finding the least common multiple for the period lengths, we can identify the interval in which the entire pattern, i.e., the synoptic repeat of the first and second patterns, is repeated. This interval must be greater than or equal to the interval S so that each point on the interval S can be uniquely associated with exactly one part of the entire pattern.

[0016] The segments are made of planar, non-ferromagnetic material and are adapted to receive an alternating magnetic field from the inductive sensor and emit a responsive alternating field.

[0017] The gaps between the segments are preferably non-conductive, unlike the segments, in order to form a predetermined pattern in each target track. These gaps may be the same size in both target tracks, or they may be different sizes. The same basically applies to the segments. However, the segments and gaps must not be the same size in each target track, because otherwise the period lengths for these target tracks would be the same. For the present invention to function, the period lengths p1 and p2 must be different. The division into whether the segments and / or gaps are different lengths plays a minor role.

[0018] The sensor system to be used includes at least two receiving coils for each target track, and the magnetic response alternating field signals of the receiving coils can be used to uniquely identify the position of the steering rod in the steering system due to the unique correspondence with the position on the steering rod.

[0019] In this way, a true-power-on determination of the absolute or relative position of the steering rod with respect to the sensor and thus with respect to the vehicle is possible without the use of external sensors, thereby solving the problem of the proposed steering rod.

[0020] In one embodiment, the number of segments n of the first target track and the number of segments m of the second target track are the same size or differ by one.

[0021] In this embodiment, gaps of equal or nearly equal size can be used to achieve nearly equal period lengths, where "nearly equal" is a particular advantage, since a smaller difference allows for a particularly long interval S before the entire target track pattern is repeated.

[0022] However, it should be noted that the difference in period length should not be selected too small, since otherwise the sensor system may not recognize the difference between the periods due to measurement accuracy. A good compromise is found by selecting the length of the period, or the length of the gaps present between the segments, so that the entire pattern extends once over the entire section S without being repeated. In this way, it is possible to achieve maximum utilization of the available structural space and at the same time maximize the signal amplitude in the receiving coil, while also maximizing the robustness of the vernier calculation.

[0023] In one embodiment, the number of segments n of the first target track and the number of segments m of the second target track differ by m+1 or m-1, so that the first target track has n=2m+1 or n=2m-1 segments.

[0024] In this embodiment, one target track has approximately twice as many segments as the other target track. Again, "approximately twice" is important, because otherwise the entire pattern would repeat after two smaller periods. This embodiment is particularly advantageous because it minimizes the mutual electromagnetic influence of both target tracks.

[0025] In one embodiment, the steering rod includes a milled area and the target track is positioned within the milled area.

[0026] Preferably, the target tracks do not protrude beyond the milled area. Therefore, the width of the target tracks, in particular the combined width of both target tracks, is preferably equal to or less than the width of the milled area. If the target tracks are completely contained within the milled area, the steering rod can pass under the sensor system together with the target tracks without hindrance. Furthermore, in this way, the sensor system can be positioned very close to the steering rod, which reduces the installation space required for the entire steering system.

[0027] In one embodiment, the segments of the target track are spaced from the steering rod using at least one spacer.

[0028] The target tracks may be positioned on the steering rod with one common spacer, or they may be positioned via multiple spacers, or to save material, one unique spacer can be used for each segment.

[0029] In addition to the spacing function, the spacer can also perform a protective function. The spacer is preferably made of plastic or other non-conductive material, so the spacer itself does not generate a magnetic response alternating field. Therefore, the spacer also shields the steering rod located below it, so that the magnetic alternating field generated by the transmission coil does not induce a current in the steering rod.

[0030] Furthermore, the spacer may also take on a purely mechanical or connecting function, so that the target track can for example be easily attached or easily replaced if damaged.

[0031] In one embodiment, the ratio of the length of the first segment in the axial direction of the steering rod to the first periodic length p1 is between 30% and 70%. Additionally or alternatively, the ratio of the length of the second segment in the axial direction of the steering rod to the second periodic length p2 is between 30% and 70%.

[0032] Generally, the larger the conductive zone, the greater the amplitude of the magnetic response alternating field signal to be detected. However, the segments should not be chosen too large, since otherwise there is a risk that the gap will be too small and the signal amplitude will no longer reveal any patterns.

[0033] Experiments have shown that 30% to 70% is a good value for the segment length to identify the steering rod position.

[0034] In a further aspect, the present invention relates to a sensor system for determining the position of a steering rod as described above.

[0035] The sensor system includes a transmitter coil, a first receiver coil system, and a second receiver coil system, wherein the transmitter coil is configured to be excited by an electrical alternating field signal.

[0036] The first receiving coil system includes at least two first receiving coils configured to receive a respective one of the first magnetic alternating field signals emitted from the first target track of the steering rod, and the second receiving coil system includes at least two second receiving coils configured to receive a respective one of the second magnetic alternating field signals emitted from the second target track.

[0037] The sensor system is configured to determine a first angle φ1 from the first magnetic alternating field signal and a second angle φ2 from the second magnetic alternating field signal, and is further configured to determine a unique position across section S of the steering rod relative to the sensor system from the first angle φ1 and the second angle φ2.

[0038] The sensor system is preferably fixedly connected to the housing of the steering system or to the body of the vehicle, so that the relative position determined by the sensor system is equivalent to an absolute position inside the vehicle.

[0039] The sensor system further comprises means for demodulating the received magnetic alternating field signals and subsequently processing them, and may further comprise means for determining the position itself or for transmitting the demodulated and possibly pre-processed alternating field signals to a control unit or on-board computer.

[0040] The receive coil system includes at least four coils in total: two first receive coils and two second receive coils, where the first receive coils interact with a segment of the first target track, while the second receive coils interact with a segment of the second target track.

[0041] Due to the interaction, the steering rod moves along with the target track below the sensor system. The transmitting coil is excited to emit a magnetic alternating field, which induces eddy currents in the segment below the transmitting coil, and the eddy currents themselves result in unique magnetic alternating field signals. These magnetic response alternating field signals are detected by the receiving coils of each track, from which the overall position of the steering rod can be derived. This allows the proposed sensor system to solve the problem of the present invention.

[0042] In one embodiment, the sensor system is connectable via a plug-in connector to a control system for reading out the sensor data.

[0043] The influence of vibrations or forces on the sensor system, which may disturb the localization, can be reduced by decoupling the external system from the sensor system. Therefore, the sensor system is preferably not connected directly to the evaluation system but via a plug-in connector. In a further embodiment, the sensor system may be connected via a wireless communication interface to a control or computing unit that performs the evaluation.

[0044] In one embodiment, the sensor system includes a return element configured to press the sensor system against the steering rod.

[0045] If the relative position between the sensor system and the steering rod is determined solely by the movement of the steering rod due to the steering movement, the accuracy of the sensor and the position determination is improved. If the sensor system is pressed against the steering rod, effects such as vibrations or other external influences can be reduced. This pressing also keeps the air gap between the target track and the sensor system constant. The return element can preferably be formed as a pressing spring.

[0046] In one embodiment, the transmit coil surrounds the receive coil, with the transmit coil windings and the receive coil windings oriented parallel to the planar segment of the target track.

[0047] The transmit coil generates an alternating magnetic field that desirably impinges as perpendicularly as possible on the target track to induce as strong eddy currents therein, and therefore ideally the windings of the transmit coil are oriented perpendicular to the surface normal of the target track.

[0048] The induced eddy currents flow on the surface of the target track. The moving charges themselves generate magnetic fields that project from the surface of the target track. These fields are detected by at least one receiver coil. Based on the magnetic field orientation, the windings of the receiver coil are also oriented parallel to the surface of the target track.

[0049] The arrangement of the transmitter coil around the receiver coil has several advantages. First, the magnetic response alternating field emitted from the target track is virtually unmeasurable due to eddy currents outside the excited region, i.e., outside the region surrounding the transmitter coil. Second, the structural space inside the transmitter coil is utilized and optimized to allow the entire sensor to be compactly contained.

[0050] In a further aspect, the present invention relates to a steer-by-wire steering system including a steering rod as described above and a sensor system as described above.

[0051] In a further aspect, the present invention relates to a method for measuring the position of a steering rod for a steering system as described above, the method comprising: applying an electrical alternating field signal to the transmitting coil; Detecting a first magnetic alternating field signal by a first receiving coil and determining a first angle φ1 based on the first magnetic alternating field signal; Detecting a second magnetic alternating field signal by a second receiving coil and determining a second angle φ2 based on the second magnetic alternating field signal; Identifying a unique position of the steering rod over a predetermined section S from the first angle φ1 and the second angle φ2; Includes.

[0052] The angles φ1 and φ2 can be determined from the magnetic response alternating field signal by summing the amplitudes of the signal voltages of the first and second receiving coils in complex space. Amplitudes are usually defined without a sign, indicating the absolute value of the measurement. However, within the scope of the present invention, the signs are important for correctly demodulating the received alternating field signal and determining the angles φ1 and φ2.

[0053] The signal from one receiver coil forms an entry on the x-axis, and the other signal from the other receiver coil forms an entry on the y-axis. The angle between the resulting amplitude and one of these axes can be identified as φ1 or φ2.

[0054] The angles φ1 and φ2 each have a sawtooth extension while the steering rod moves under the sensor system. Therefore, a single angle would not be convincing. For each combination of two angular positions, exactly one angle combination of the two angles φ1 and φ2 can be associated with each point on the path along the section S. Because the joint pattern of the target track is not repeated across the section S, the association between the point on the path and the angle combination is unique. This allows the unique position of the steering rod to be determined from the angles φ1 and φ2.

[0055] According to one embodiment, determining the first angle φ1 and determining the second angle φ2 each include processing, in particular filtering, demodulating, digitizing and / or converting, of the received magnetic alternating field signal.

[0056] If more than two receive coils per target track are used, a transformation of the signals, for example Clarke's transformation, can be performed before determining the angles φ1 and φ2.

[0057] Processing of the received alternating field signals may be performed by a control unit internal to the sensor system or may be performed by an external control unit communicatively coupled to the sensor system.

[0058] In one embodiment, the position of the steering rod is determined using the Vernier principle.

[0059] The first target track may be used to measure the position of the steering rod, but in that case, there is the problem of ambiguity as explained above. The use of a second target track eliminates this problem, since it returns a second pattern for each position of the steering rod over the section S. Both patterns work together as a vernier principle, since a synoptic view of both patterns results in a joint overall pattern from which the position can be determined precisely. In this case, the accuracy of the location determination depends on the size of the segments used in the target track and the accuracy of the measurement of the magnetic alternating field signal.

[0060] Alternatively, the steering rod position can be associated with a number of possible combinations of the first angle φ1 and the second angle φ2, and the steering rod position can be determined based on a stored table. The table can be stored, for example, in the memory of the sensor system. In particular, the table can include a classification of angle combinations, so that a unique value does not need to be stored for each individual angle.

[0061] In a further aspect, the present invention relates to a computer program having a program code for performing a method as described above, when the computer program is run on a computer, and / or to a computer readable data carrier having a program code of a computer program for performing a method as described above, when the computer program is run on a computer.

[0062] In a further aspect, the present invention relates to a system for measuring the position of a steering rod in a steer-by-wire steering system, the system being configured to perform a method as described above.

[0063] Thus, in general, a steering rod, a sensor system, a steer-by-wire steering system, a method for determining the position of a steering rod, a computer program and a computer readable data carrier, and a system for implementing the above-mentioned methods are presented.

[0064] The above-described embodiments and developments can be combined with one another in any combination.

[0065] Further possible embodiments, developments and implementations of the invention also include not explicitly mentioned combinations of the features of the invention that are explained above or below with reference to the examples.

[0066] The accompanying drawings are intended to provide a further understanding of the embodiments of the present invention, and are used to illustrate the embodiments and to explain the principles and concepts of the present invention.

[0067] Other embodiments and many of the advantages discussed above will become apparent in view of the drawings, in which elements are not necessarily drawn to scale relative to each other. [Brief explanation of the drawings]

[0068] [Figure 1] 1 illustrates a steering system with a steering rod according to an embodiment of the present invention. [Figure 2] FIG. 1 illustrates one sensor system and two target tracks according to one embodiment.

[0069] The same reference numbers in the various figures of the drawings, unless otherwise stated, refer to identical or functionally equivalent elements, components or elements. DETAILED DESCRIPTION OF THE INVENTION

[0070] 1 shows a perspective view of a part of a steering system including a steering rod 10. Two target tracks 12, 14 are arranged on the steering rod, and these target tracks 12, 14 extend in the direction of extension of the steering rod 10. In the illustrated embodiment, the target tracks 12 and 14 are connected to the steering rod 10 via a spacer 16. The spacer 16 is preferably made of a dielectric material, for example, plastic or ceramic, and secures the target tracks 12, 14 to the steering rod 10.

[0071] Each of the target tracks 12 and 14 includes a plurality of segments with gaps between them. The segments and gaps of the target tracks 12 and 14 are of the same length within each of the target tracks 12 and 14, resulting in one period p1 or p2 for each of the target tracks 12 and 14. The periods p1 and p2 are of different lengths, resulting in each of the target tracks 12 and 14 including a different number of segments.

[0072] The target tracks 12 and 14 together form a common pattern that is not repeated over the entire section S over which the steering rod 10 can travel.

[0073] The steering rod 10 is configured to move beneath a sensor system 18. The sensor system 18 is an inductive sensor system capable of detecting the magnetic response alternating field signals of the target tracks 12, 14. Because each position of the steering rod 10 corresponds to a unique region of the pattern of the target tracks 12, 14, the sensor system 18 can indirectly determine the position of the steering rod 10.

[0074] It is desirable for the sensor system 18 to move as little as possible, and for the steering rod 10 to move as little as possible in a direction transverse to the extension direction of the steering rod 10. To reduce the relative movement of the steering rod 10 with respect to the sensor system 18, the sensor system 18 can be pressed against the steering rod by a return element. In the illustrated embodiment, the return element is formed as a pressure spring 20.

[0075] To further isolate it from vibrations and other interfering influences, the sensor system 18 in the illustrated embodiment can be coupled to evaluation electronics (not shown here) by means of a plug-in connector 22. The plug-in connector 22 is preferably not directly connected to the sensor system 18, so that any tensions that may be caused by cables or other influences are not transmitted to the sensor system 18 and thus do not lead to inaccurate localization.

[0076] 2 shows the sensor system from the perspective of the target tracks 12 and 14. In this embodiment, the target tracks 12, 14 are again formed by segments 24 and 26. A gap 28 is disposed between the segments 24, 26, thereby enabling the sensor system to identify patterns in the target tracks 12, 14 and, from there, determine the position of the steering rod.

[0077] The sensor system includes one transmitting coil 30 and two receiving coil systems, each consisting of two receiving coils 32 and 34 or 36 and 38, respectively.

[0078] In the illustrated embodiment, the receive coils 32, 34, 36, and 38 each form a plurality of loops with different magnetic field directions. The loops are arranged such that the magnetic field directions of adjacent loops are opposite to each other. Furthermore, two receive coils 32, 34 or 36, 38 of the receive coil system are configured to have different flow directions.

[0079] The transmitter coil 30 surrounds the receiver coils 32, 34, 36, 38, all of which are arranged in one plane. This arrangement of the coils allows the sensor system to be as compact as possible, thereby reducing the required installation space. Furthermore, the magnetic response alternating field signal is very weak outside the area of ​​the transmitter coil 30, and is therefore practically impossible to measure outside the area of ​​the transmitter coil 30. Therefore, arranging the receiver coil system inside the transmitter coil 30 is also beneficial for the accuracy of localization.

Claims

1. A steering rod (10) for a steer-by-wire steering system, comprising: The steering rod (10) is configured to move over a predetermined section S in the axial direction, The steering rod (10) includes a first target track (12) with conductive first segments (24), with gaps (28) between the first segments (24), such that the first segments (24) and the gaps (28) are spaced apart along the first target track (12) by a first periodic length p １ forming a first pattern that repeats in The steering rod (10) includes a second target track (14) with conductive second segments (26) having gaps (28) between them, such that the second segments (26) and the gaps (28) are spaced apart along the second target track (14) at a second periodic length p ２ and forms a second pattern that repeats with the segments (24, 26) are fixedly connected to the steering rod (10), and the target tracks (12, 14) extend parallel to each other and to the axial direction of the steering rod (10); The period length p １ and p ２ is the period length p １ and p ２ is selected so that the least common multiple of is equal to or greater than the interval S. Steering rod (10).

2. The number n of segments (24) of the first target track (12) and the number m of segments (26) of the second target track (14) are the same or differ by 1. A steering rod (10) according to claim 1.

3. The number n of segments (24) of the first target track (12) and the number m of segments (26) of the second target track (14) differ by m+1 or m-1. A steering rod (10) according to claim 1.

4. The steering rod (10) includes a milled area, and the target tracks (12, 14) are positioned within the milled area. A steering rod (10) according to any one of claims 1 to 3.

5. The segments (24, 26) of the target track (12, 14) are spaced from the steering rod (10) using at least one spacer (16). A steering rod (10) according to any one of claims 1 to 4.

6. The first period length p １ the ratio of the length of the first segment (24) in the axial direction of the steering rod (10) to the length of the first segment (24) is between 30% and 70%; and / or The second period length p ２ the ratio of the length of the second segment (26) in the axial direction of the steering rod (10) to the length of the second segment (26) is between 30% and 70%. A steering rod (10) according to any one of the preceding claims.

7. A sensor system (18) for determining the position of a steering rod (10) according to any one of claims 1 to 6, comprising: The sensor system (18) includes a transmit coil (30), a first receive coil system, and a second receive coil system; The transmitter coil (30) is configured to be excited by an electrical alternating field signal; the first receiving coil system includes at least two first receiving coils (32, 34), each configured to receive a first magnetic alternating field signal emitted from a first target track (12) of the steering rod (10); the second receiving coil system includes at least two second receiving coils (36, 38), each configured to receive a second magnetic alternating field signal emanating from a second target track (14); The sensor system (18) detects a first angle φ from the first magnetic alternating field signal. １ configured to identify The sensor system (18) detects a second angle φ from the second magnetic alternating field signal. ２ configured to identify The sensor system (18) determines a unique position of the steering rod (10) relative to the sensor system (18) over a section S by the first angle φ １ and the second angle φ ２ further configured to identify from A sensor system (18).

8. The sensor system (18) is connectable via a plug-in connector (22) to a control system for reading out sensor data. The sensor system (18) of claim 7.

9. The sensor system (18) has a return element configured to press the sensor system (18) against the steering rod (10). A sensor system (18) according to claim 7 or 8.

10. The transmitting coil (30) surrounds the receiving coil, and the windings of the transmitting coil (30) and the windings of the receiving coils (32, 34, 36, 38) are oriented parallel to the planar segments (24, 26) of the target tracks (12, 14). A sensor system (18) according to any one of claims 7 to 9.

11. A steer-by-wire steering system comprising: a steering rod according to any one of claims 1 to 6; and a sensor system according to any one of claims 6 to 10.

12. 11. A method for measuring the position of a steering rod (10) according to any one of claims 1 to 6 using a sensor system (18) according to any one of claims 7 to 10, said method comprising the steps of: - applying an electrical alternating field signal to the transmitting coil (30); detecting a first magnetic alternating field signal by a first receiving coil (32, 34) and determining a first angle φ based on the first magnetic alternating field signal; １ and detecting a second magnetic alternating field signal by a second receiving coil (36, 38) and determining a second angle φ based on the second magnetic alternating field signal; ２ and The unambiguous position of the steering rod over a predetermined section S is determined by the first angle φ １ and the second angle φ ２ Identifying from A method comprising:

13. The first angle φ １ and determining the second angle φ ２ Identifying the - processing the received magnetic alternating field signal, in particular including filtering, demodulation, digitization and / or conversion, respectively; The method of claim 12.

14. The position of the steering rod (10) is determined using the Vernier principle, or The first angle φ １ and the value of the second angle φ ２ a position of the steering rod (10) is associated with each combination of the value of 14. The method according to claim 12 or 13.

15. 15. A computer program comprising a program code for performing the method according to any one of claims 12 to 14, when the computer program is run on a computer, and / or a computer readable data carrier comprising the program code of said computer program for performing the method according to any one of claims 12 to 14, when the computer program is run on a computer.

16. 16. A system for measuring the absolute position of a steering rod (10) in a steer-by-wire steering system according to claim 11, said system being configured to perform a method according to any one of claims 12 to 15.

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