Rotation control system for a steering wheel and method

A rotational control system for a steering system comprising:

• a single steering wheel, the entire steering wheel switchable between a rotational condition and a non-rotational condition, a steering wheel angle of the entire steering wheel in a straight ahead position in the non-rotational condition, the rotational condition being rotation of the steering wheel that corresponds to angular displacement of a plurality of road wheels of a vehicle;
• a steering gear operatively coupled to the plurality of road wheels, the steering wheel and the steering gear electrically coupled to each other;
• and
• a controller in operative communication with the steering wheel and the steering gear, the controller configured to control the steering gear independent of the entire steering wheel when the steering system is in an autonomous steering condition, and the controller configured to allow switching between the rotational condition and the non-rotational condition at any time while the steering system remains in the autonomous steering condition, wherein the steering system is switchable between the autonomous steering condition and a non-autonomous steering condition with a predetermined driver applied rotation or torque of the single steering wheel, wherein the controller is part of an autonomous steering assist system capable of determining and controlling directional control of the vehicle;
• and
• a first actuator operatively coupled to the steering gear, the first actuator controlled by the steering wheel in the non-autonomous steering condition, the first actuator controlled by the autonomous steering assist system in the autonomous steering condition, wherein the autonomous steering assist system sends a signal to the first actuator in the non-autonomous steering condition and interrupts or discontinues the signal in the autonomous steering condition.