Steering apparatus for steerable vehicle

A steering apparatus for a steerable vehicle, comprising:

• steering actuation means for generating a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command;
• steering input means for setting a steering input;
• disturbance determination means for determining a disturbance indicator indicative of a disturbance input to the vehicle;
• and
• steering control means for performing the following:
• setting a desired steering output in accordance with the steering input;
• setting the steering effort command in accordance with the desired steering output;
• adjusting the steering effort command in accordance with the disturbance indicator;
• and
• outputting the adjusted steering effort command to the steering actuation means.

A method of controlling a steerable vehicle including a steering actuator configured to generate a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command;

• a steering input unit configured to set a steering input;
• and a disturbance determination section configured to determine a disturbance indicator indicative of a disturbance input to the vehicle, the method comprising:
• setting a desired steering output in accordance with the steering input;
• setting the steering effort command in accordance with the desired steering output;
• adjusting the steering effort command in accordance with the disturbance indicator;
• and
• outputting the adjusted steering effort command to the steering actuator.