In an embodiment of the present invention, an apparatus for steering a
vehicle is disclosed. The apparatus includes a back-drivable steer-by-wire
system including a road wheel actuator assembly coupled to a wheel of the
vehicle. The road wheel actuator assembly defines a steering axis and the
steering axis is off-set from a longitudinal axis of the wheel by a
positive scrub radius. In an embodiment for a method in accordance with
the present invention, a method to steer a vehicle after failure of a road
wheel actuator assembly in a back-drivable steer-by-wire steering system
is disclosed. The method includes the acts of applying a braking force to
the wheel and generating a torque on the road wheel actuator assembly by
the applied braking force acting through a positive scrub radius.
