Steering system for a vehicle

A steering system for a vehicle, the steering system comprising:

• a steering gear;
• two knuckles of two steerable wheels;
• a steering actuator;
• a plurality of sensors;
• and
• a processing unit;
• wherein, the steering gear is connected to a first knuckle of the two knuckles and the steering gear is connected to a second knuckle of the two knuckles, and wherein the connection between the steering gear and two knuckles comprises an output shaft of the steering gear;
• wherein, the steering gear is connected to the steering actuator, and wherein the connection between the steering gear and steering actuator comprises a torque transmitting unit or input shaft;
• wherein, the plurality of sensors are mounted at locations associated with the steering gear;
• wherein, each of the plurality of sensors is configured to acquire steering system position information;
• wherein, each of the plurality of sensors are configured to provide the acquired steering system information to the processing unit;
• wherein at least one of the plurality of sensors is configured to measure a steering position on at least one of the two knuckles and/or associated connection rod;
• wherein at least one of the plurality of sensors is configured to measure a steering position on the output shaft;
• and
• wherein at least one of the plurality of sensors is configured to measure a steering position on the torque transmitting unit or input shaft.