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Steering, steering forces are controlled by Servotronic and the steering angle is masterminded by an additional active steering transmission acting on the front axle, in each case as a function of road speed. At the same auto diagnostics tools time the system also varies the steering angle of the rear wheels through a concentrically arranged motor acting through spindle drive on the rear axle. Both front and rear, Integral Active Steering adjusts the steering angle through an electric motor masterminded by a control unit receiving data on wheel rotation speed, movement of the steering wheel, the yaw rate and lateral acceleration to ensure optimum steering behaviour under all conditions.Active Steering on the front wheels enables the driver to manoeuvre the car smoothly and easily at low speeds with just small movements of the steering http://www.obdchina.com/bmw-scanner-14-for-bmw-scanner-p-1094.html wheel and without crossing over his hands. At higher speeds, in turn, the same movement of the steering wheel turns the wheel by a smaller angle for optimum precision when steering into bends.