Four wheel steering alignment process

Disclosed is a method for aligning a position sensor in a vehicle (12) with steerable wheels (28), (44) comprising obtaining an absolute position value responsive to a position signal from a handwheel position sensor, obtaining a relative position value responsive to an encoder signal (70a), (70b) count from a position encoder, and obtaining an index position value responsive to an index signal (72). The method further includes receiving an alignment enable signal and determining a correction factor responsive to the relative position value and the index position value. The method for aligning a position sensor is responsive to at least one of the absolute position value, the relative position value, and the index position value under conditions determined from the status of the alignment enable signal. Also disclosed is a method for aligning a steerable wheel (28), (44) in a vehicle (12) with electric power steering comprising obtaining an alignment correction corresponding to a computed correction of wheel position relative to the vehicle (12) from an alignment apparatus, receiving an alignment enable signal, where the method of aligning is responsive to the alignment correction under conditions determined from the status of the alignment enable signal.