| CPC B62D 5/0484 (2013.01) [B62D 6/008 (2013.01)] | 14 Claims |

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1. A method to control a steering system for a vehicle, the method comprising:
(a) determining a state of performance degradation of the steering system;
(b) determining a vehicle situation;
(c) determining if a performance of the steering system in the determined state of performance degradation is sufficient for the determined vehicle situation; and
(d) if the performance of the steering system is determined to be not sufficient, modifying the state of performance degradation by decreasing a degradation level for a period of time.
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