Brake-to-steer for steer-by-wire control algorithm using support from tertiary steering actuation

A method comprising enhancing the curvature capability of a tertiary steering actuator comprising using brake-to-steer while the tertiary steering actuator is operating.

A system for use in a vehicle having differential electronic brakes at each roadwheel, a propulsion system, a steer by wire system, of a primary steering actuator, a secondary steering actuator and a tertiary steering actuator, one or more modules or controllers including an electronic processor, a non-transitory computer readable medium having instructions thereon executable by the electronic processor to implement functionality comprising determining that both of a primary steering actuator and a secondary steering actuator have failed and thereafter sending commands to the a tertiary steering actuator, the differential electronic brakes at each roadwheel, and the propulsion system, to provide steer by brake assistance to the tertiary steering actuator to increase the curvature capability of steering the vehicle than the curvature capability of only using the tertiary steering actuator without brake-to-steer functionality.