Steering system for an autonomously driven vehicle and methods of steering the same

A steering system for an autonomously driven vehicle, the system comprising:

• a primary steering assembly including a rotatable steering wheel;
• a power steering controller in communication with the primary steering assembly and having a first mode and a second mode;
• a main controller in communication with the power steering controller;
• a secondary steering assembly in communication with the main controller such that the main controller signals the secondary steering assembly to operate in a first phase when the power steering controller is in the first mode and a second phase to steer the vehicle when the power steering controller is in the second mode;
• and
• a friction device coupled to the primary steering assembly and movable between a disengaged position releasing the primary steering assembly to allow rotation of the steering wheel and an engaged position engaging the primary steering assembly to secure the steering wheel in an initial position, wherein the main controller is in communication with the friction device to signal the friction device to actuate to the disengaged position when the power steering controller is in the first mode and the secondary steering assembly is in the first phase, and to signal the friction device to actuate to the engaged position to secure the steering wheel in the initial position when the power steering controller is in the second mode and the secondary steering assembly is in the second phase to allow the secondary steering assembly to steer the vehicle.