Method of controlling a steering system

A control unit for controlling a steering system of a vehicle, wherein the steering system comprises:

• a first steering shaft comprising a first actuator connected to the control unit;
• a second steering shaft connected to at least one pair of wheels of the vehicle, the second steering shaft comprising a second actuator connected to the control unit;
• and
• a mechanical member comprising a first portion connected to the first steering shaft and a second portion connected to the second steering shaft;
• wherein a mutual relative rotation between the first and second steering shafts is obtainable by an angular mechanical play between the first portion and the second portion;
• wherein the first portion and the second portion are arranged in contact with each other when the mutual relative rotation reaches a displacement angle corresponding to the angular mechanical play;
• wherein the mechanical member is configured to assume a first state in which a first angular mechanical play is provided between the first portion and the second portion;
• and
• wherein the control unit comprises a control circuit configured to:
• receive a signal indicative of a lateral acceleration of the vehicle being above a predetermined threshold;
• and
• transmit, in response to the indication of the lateral acceleration being above the predetermined threshold, a control signal to at least one of the first actuator and the second actuator, the control signal representing instructions to the at least one of the first actuator and the second actuator to generate an angular displacement between the first steering shaft and the second steering shaft, such that the mechanical member assumes a second state in which a second angular mechanical play is provided between the first portion and the second portion;
• wherein the second state allows a smaller mutual relative rotation between the first steering shaft and the second steering shaft compared to the first state.