Method and apparatus for operating a steer-by-wire steering system for a motor vehicle and steer-by-wire steering system

A steer-by-wire steering system for a vehicle, the steer-by-wire steering system comprising:

• at least one road wheel actuator operatively coupled to steerable wheels of the vehicle;
• a sensor;
• and
• a control device operatively coupled to the road wheel actuator and the sensor, wherein the control device is at least configured to:
• identify a normal angle input for a road wheel angle of steerable wheels based on a steering command;
• identify an adapted angle input characteristic curve for the road wheel angle based on the normal angle input overlaid with an overlay angle characteristic curve;
• communicate an actuating signal to the at least one road wheel actuator based on the adapted angle input characteristic curve, the actuating signal to cause the road wheel actuator to track the road wheel angle of the steerable wheels based on the adapted angle input characteristic curve;
• detect at least one operating parameter influenced by the road wheel actuator during the tracking of the road wheel angle of the steerable wheels;
• determine an updated friction value of the road wheel actuator based on the detected at least one operating parameter;
• and
• adjust a current friction value of the road wheel actuator based on the updated friction value.

A vehicle comprising:

• at least one road wheel actuator operatively coupled to steerable wheels of the vehicle;
• a sensor;
• and
• a control device operatively coupled to the road wheel actuator and the sensor, the control device to:
• identify a normal angle input for a road wheel angle of steerable wheels based on a steering command;
• identify an adapted angle input characteristic curve for the road wheel angle based on the normal angle input overlaid with an overlay angle characteristic curve;
• communicate an actuating signal to the at least one road wheel actuator based on the adapted angle input characteristic curve, the actuating signal to cause the road wheel actuator to track the road wheel angle of the steerable wheels based on the adapted angle input characteristic curve;
• detect at least one operating parameter influenced by the road wheel actuator during the tracking of the road wheel angle of the steerable wheels;
• determine an updated friction value of the road wheel actuator based on the detected at least one operating parameter;
• and
• adjust a current friction value of the road wheel actuator based on the updated friction value.